S., I didn't get a chance to respond to your other question but my first thought was that at least in the bedroom, you and your husband have a sexual relationship but not an intimate one. Sounds like other people suggested that as well?
The bottom line is that as healthy as other parts of your marriage are, in this one arena, you both have unmet needs and that's worth talking about, thinking about, and exploring. It doesn't make either of you bad or needy. Based on your other post, if I were you (and I have been in your shoes somewhat), I would feel that the pendulum has shifted too much towards the place where you are feeling a bit objectified and used. As if you are feeling like instead of being your husband's treasured partner, you are the means by which he satisfies his own sexual needs - which are getting rather impersonal - at the expense of your need for true sexual intimacy. In my opinion, there's room in marriage for exploring and keeping things spicy, but there's also a need to get back to just the two of you, together, sharing something that's special and loving and simple that only a committed couple can share. My guess is that you are interested in a balance, and that's a totally normal and healthy expectation.
There's a really great book that I think you would like called "Intimacy and Desire." It's a complex read - this is no Dr. Phil tome serving up tripe - but I think it would really interest you and give you and your husband some good things to talk about together.
Another good resource is marriagebuilders.com. There is an emotional needs questionnaire (knows as the ENQ) that can be a really telling exercise. It basically lists the 10 basic emotional needs and has each partner rank them and list why, and then you share your lists. Number one on my list was honesty, as I figured it would be for everyone. That was something like number 6 or 7 on his. Really? Yes! He basically said that he's fine not knowing things that would upset him or rock the boat and that trusting people really isn't important to him. That's the kind of thing that would have been handy to know *before* getting married, but I digress.
For me, the difference between sexual/romantic intimacy and all of the other kinds of intimacy that you talk about is that sexual/romantic intimacy is the one kind that a monogamous couple can only find in each other. While the ability to talk, or sit in silence, or share things with each other etc. are important, you can get those from your sibling or parent or friends. There are many emotional and physical needs that can be met in healthy relationships with other people. In a monogamous relationship, the partners have to honor the pact that they will provide for the other person's sexual and romantic needs and trust that their partner will provide for theirs. It sounds like you're holding up your end of that implicit agreement by being a willing partner with your husband in role playing and pushing boundaries and keeping things spicy. Is he fulfilling his role in providing you with the sweet, tender, romantic intimacy that you want and need? It doesn't matter whether or not that comes naturally to him, he should learn to be good and that and like it because it pleases you. Whether or not your emotional needs are filled should matter to him, just as his needs matter to you.
The problem with unmet needs is that when you least expect it, someone else will come along who can fill them and you might not even know that you felt like you were missing something until someone else comes into your life with the ability to fulfill a need that you weren't aware you had! Then suddenly it becomes a glaring deficit that you have to address. Better to sense the need before that happens and work together with your spouse on making sure that both of you are feeling fulfilled or if you aren't, work together on fixing that.
Sorry for such a long post but you're dancing near a marital danger zone and your instincts are telling you that something needs addressing. So read up on this (seriously, that book I mentioned is well worth the time) and work with your husband before this becomes a big deal.