I have slept, in the same bed, with several women and not do sex. In most cases they have invited me due to circuntances, long trip etc.
One of them is a long time friend when we were teenagers. I visited her. The the sun rised and we were still talking, then we went to bed.
I am sure if we met again, we can even kiss each other and not do it.
It can rarely happen because modern lifestyle preclude it.