Is love from families a necessity for children to form nornal relationship? Some human skills need specific input during childhood to develop, such as language skills. Is the ability to love one of them? I.e., does the formulation of intimate relationship with partner (or any other relationship, like with kids or friends) require the input of love from family members during childhood?

Related research can be, like, can victims of domestic violence form normal and long-lasting relationships when they grow up? Or any dataset/survey/study on similar focus?
not being an expert in developmental psychology i cant give precise information but i have recently been listen several of "the great courses" on human development and personality.

i think the consensus of modern (and a large extent of more "vintage" research) would support the idea that we need affection and the security that having a relationship with caregiver provides. (bowlbys monkeys etc). any diusruption to this kind of input will have an affect on development. i did read an interesting study (i think it was an Italian university) on the development of psychopathic traits in abused children, so i think its probably safe to say that the trend certainly lies in the direction that says forming relationships needs some reciprocal affection.

i wouldnt go as far as to say that authoritarian parents  = less love-capable offspring, people are to complex for such a basic interpretation. there is also the issue of CBT and other treatments in helping to develop these bonds. i think most parents would probably agree that they didnt really know as much about love as they thought until they had children to care for.