Difference between a relationship and dating
The feedback would sound something like this: “She didn’t give me enough [insert need]” or “He didn’t care about the fact that I [insert need].” In relationships, people often get so busy trying to get their own needs met that they forget about the unique needs their partners have, too.
This means you can and do hang out as friends, whether alone or in group settings.
However, this can be very tricky as spending time with each other outside of the bedroom can lead to feelings.
If you have a FWB and both of you have some sort of emotional attachment to each other but don't want commitment, that's dating. If you want to maintain a hook up status, limit the talking and focus on the physical. This is where you can both enjoy the physical aspect of a person and combine it with appreciating their company.
The key thing here to remember is that neither of you are committed. The biggest thing here is that there is commitment.
Also, both physical intimacy and an emotional connection exists though their gravity varies. There's different forms of being in a relationship (like being in an open relationship) but I won't get into that now.