The real key is that in massage as you are learning to work with someone else, with healthy touch, you are listening to them in what they need and want. It frees people from always having to end with intercourse.
We are so visually stimulated that we don't even realize how important touch is. Our other senses get downplayed, but they can cue us into stuff that maybe isn't that apparent by our vision.
Touch is critical for life, even as adults. Very few people get touched often enough so touching can bring you back to yourself and help you connect with another person.