Orgasm isn’t a necessary part of the sexual experience for everyone.
Ejaculation isn’t a necessary part of orgasm for everyone.
I have found that my most rewarding sex is when, for both/all partners, it is about the journey and not the destination. Sometimes orgasm can be the whole sundae; sometimes it is just the cherry on top. And sometimes, you don’t need it at all – it’s the dessert that the appetizer and entrée left you too full for.
But no matter what, if you had a good time and they had a good time, there’s no reason to have a checklist tell you that it couldn’t have been a good time because one of the tick-boxes is still empty.