I'm 21F and haven't had sex or kissed anyone for that matter. I have been felt up but that was traumatic so I don't really count it.
I sometimes do feel like a late bloomer and like I'm "behind" friends and other girls my age. I've only recently become interested in dating and up to this point was more focused on school, my career and hobbies. I don't think there is anything wrong with wanting to wanting to feel cared for and a relationship before engaging in intimacy.
Like others have said, everyone has different emotional and sexual needs and you shouldn't feel like yours are any less valid just because people with the similar mindset are quieter about it and don't broadcast the fact.