Dear Wanderer,
As I have already shared and as Eliiah has also kindly shared, the term implies companionship, coupling and yes, if spoken in an earthly context, between man and woman, would imply lawful coupling through marriage.
However, as I've already intimated, in the Hereafter or with references to the Hereafter, earthly interpretations must be seen with caution as we are speaking of a world and existence largely unknown to us. Therefore, companion coupling, pairing or partnering is arguably the better rendition here.
I feel I have now exhausted this discussion and that you will kindly allow me to respectfully take leave from this topic.
I hope my responses hitherto have helped, God willing.
Regards,
Joseph