Can boundaries and intimacy go together?

Words are often misleading. 'Boundaries' is one such word. The message seems to be “Closeness is OK, but too much closeness can get harmful. Learn to draw the line and say ‘back off!’”  But in close relationships, how close is too close? In fact, is there a limit to being ‘close’? What about unconditional acceptance, complete trust or genuine intimacy? Can boundaries and intimacy go together? Let us investigate together. Not what I think ‘boundaries’ mean, but what a healthy, harmonious definition of the word can be, how it gets distorted and also how we can prevent it