Narrative art, the novel, from Murasaki to Proust, has produced great works of poetry.
True poetry is similar to certain pictures whose owner is unknown and which only a few initiated people know.
Strangely, Dante's Divine Comedy did not produce a prose of that creative height or it did so after centuries.
There is also poetry written to be shouted in a square in front of an enthusiastic crowd. This occurs especially in countries where authoritarian regimes are in power.
There is poetry even in prose, in all the great prose which is not merely utilitarian or didactic: there exist poets who write in prose or at least in more or less apparent prose; millions of poets write verses which have no connection with poetry.
For my part, if I consider poetry as an object, I maintain that it is born of the necessity of adding a vocal sound (speech) to the hammering of the first tribal music.