Dr. Ruth Westheimer has passed away at age 96. According to publicist and friend Pierre Lehu, the iconic intimacy therapist died on Friday, July 12, at her home in New York City surrounded by her loved ones. Westheimer rose to prominence for her tell-it-like-it-is attitude about bedroom topics. “I still hold old-fashioned values, and I’m a bit of a square,” she said during a 2002 appearance at Michigan City High School. “S– is a private art and a private matter. But still, it is a subject we must talk about.” Never miss a story — sign up for the OK! newsletter to stay up-to-date on the best o…