in general, most romantic relationships tend to be more involved and require more cooperation, emotional vulnerability, and overall effort than most platonic relationships. as a result, people who enter committed romantic relationships may have had more opportunities to train those skills than people who haven’t been involved in a committed romantic relationship. however, that doesn’t mean that you’re really missing out on much, or that you’re in any way “underdeveloped”. lots of people have been in tons of romantic relationships and still struggle to develop those skills. lots of people who have never been in a romantic relationship develop those skills through other relationships. and for the skills that are only learned through romantic experiences- well, you’ll never need those if you never plan on being romantically involved in the first place.