Can we have this endless joy with one person till the rest of our lives?
Yes! We can!
But! We need to know a lot about how to make physical connection good for our body, energy and emotional state. We need to learn different from instinctive physical sexual behaviour. On the internet you can find a lot of articles about how sex is good for you. Yet, not many articles talk about what kind of sex is good. People need to know how to develop a conscious and respectful attitude to their own body and the body of their partners. The body has limitations, yet, it can be a source of endless joy and energy when its needs are taken care of in the direction of balancing the body rather than arousing it more and more.