Echelons

I do not know if I will ever be a mature lover.
Perhaps it is because I do not see, I fail in understanding
Where the draw towards breast and buttock connects/separates? from
The selfless friend, the eternal soul mate.
How does this play?
I sense but do not see,
I understand but do not know.
I am immature born and raised
Directed and driven to the morality
Of care and kindness, love for sure.
But these seem of a lower echelon, the underclass of partner love.
Perhaps a breath and quiet mind will make it clear
And perhaps there is an answer found,
Not by looking up/out so much
As in the looking down/in.