Touch
I don't generally like being touched, except by very few people. I did miss it when I was single but just got on with things. I have a horse and so do have plenty of contact with another warm, living body. No, I'm not saying everyone can do this, but I found it helps me.
Physical closeness (potentially including, but not exclusively, sex)
I found I was better off having no sex than occasional sex, although I did have an FWB for a while and I did enjoy that. Otherwise I did just have to chalk it up to 'ok, I miss this, now get on with things'.
Another body/voice in your home
I don't really want or need this. I found house sharing very, very annoying. I don't currently live with my partner. Yes, I know if MN-speak this makes him my boyfriend not my partner but frankly I'm not going to refer to someone over 50 as a boy and besides, he is my partner in life. I do sometimes put the TV on for company as much as anything else, but I quite like that as unlike housemates you can change channel or switch it off at will.
Writing this down, maybe being single worked for me because I'm introverted and in some ways anti-social. I still prefer my current relationship though as I find, after decades of really being on my own, that I have some support and a sense of someone sharing things with me.