Masturbation is totally normal and healthy, and you're spot on that it shouldn't be demonized or shamed. In men, it might even reduce the risk of prostate cancer.
So while I'm totally with you that masturbation is healthy and that bullshit social taboos against it should be rejected, it's also good to be mindful about your motivation behind doing it. Are you doing it because you're escaping pain? Or are you doing it because it aligns with your values and makes your life meaningful? If you rely on masturbation too much and don't have ways of accepting your emotions and connecting with the world, it could potentially tip into unhelpful psychological rigidity and a frustrating life. The key is to be able to experience masturbation while still staying flexible enough to show up fully for the rest of your life too.