Joining with the other sex and reproduction is literally the main purpose of all living beings
I would say that survival is the main purpose. For which reproducing is one of the available 'tools' like is eating, fighting, and running away.
Reproducing doesn't require having to join the other. I mean, gametes exchange can be done without mating (ask plants) and you also have asexual reproducing. Mating is the way human beings are doing it, like many living species but it still is just one way.
When you don’t have that as your adulthood passes you feel like a failure, regardless of what anyone else thinks.
At the individual level, reproducing is not a necessity (a far less urgent one than is eating and surviving, ie get a shelter, get away from trouble,...). It's only a necessity at the species level. At least, as far as I understand it.
Many people do not have sex or have sex and do not reproduce. They are fine and not unhappy and their choice is fine at the species level — it's not like human species is on the verge of extinction because of the lack of humans: we've never been that many on teh surface of the planet (most probably even a little bit too many ;)
Edit: even among other species, reproducing is not the aim of all individuals. Just look at bees: the queen is the only one that will lay eggs (other bees are either workers/fighters/nurses, even though they can switch role during their lifetime they won't ever have a baby bee) and the males... well, the one that gets to mate the queen die just after that.