My niece didn't have her 1st kiss until 20. At college she had her first boyfriend at 21, who was awful and she finished with him. According to her mum, there was no intimacy between them. She is now 22, finished college and in the process of deciding what to do with her life. She is an absolute gem of a person, and she's not prepared to have a boyfriend just because it's expected of her. She does get a bit frustrated about not having someone, but knows that it'll happen eventually.
Her younger sister had her 1st kiss at 18. She's still 18 and hasn't had a boyfriend, yet. She's another gem. She recently started college, which she's really enjoying, and feeling no pressure to find a man.
Hope this is reassuring for you.