In my experience if you are spending a long time having sex and enjoying each other touching, licking, sucking, and pleasuring are necessary ingredients whether you are doing it to yourself or to the person you are in bed with
I usually don't rub my clit during sex. I don 't need to. I have gspot orgasms. I feel that clit orgasms during sex are a waste and a bit of a let down. That's what I do when I'm masturbating real quick during the day.