I'll kinda take a different approach since everyone's covered the basics with sex work. The problem with how you've presented it, is you're defining an act on how you perceive and want to regulate it. The simple question becomes, "should people have bodily autonomy?"

Everyone has a different opinion on what can be considered intimate/romantic. Some people feel a full body massage is too intimate, others a dinner with a co-worker is too romantic (not agreeing, just throwing out examples). If we start regulating based on how someone feels something should be perceived than it's a slippery slope. I can fully understand that you believe sex to be romantic while also realizing that others don't feel the same way or view it as a positive aspect of it. If it's not being forced on you then it shouldn't be a problem what consenting adults do in privacy.