You obviously can't see it possible that you can survive without this man yet, it comes across that you feel within time he will find feelings for you you want him to have.
Imagine you and he have had an amazing evening together, he's said all the right things, you're feeling like you two are back on track, you go to bed together, you have sex, even have the best sex you two have ever had. You then lie there with you're thoughts?
Did he really want that?
Did he just do that out of pity?
Did he imagine I was someone else?
Did he regret it?
Will this be the last time?
There's no need to ask these questions as he's already given you the answer.
' I love you so much that I want everything to stay as it is and we will all look after each other. I can't bear to see you hurting because I don't want to sleep with you or be romantic with you, so is it ok if I just hover around and drive you everywhere and I can sleep in the shed if that makes you feel better, but of course I've just picked all our kids up and done a shit load of errands so maybe should sleep in the main bed as I've done so good'
I actually don't know who how the two of you is the weakest.
Get a bag of possessions, get a sense of pride, take a deep breath, in fact take 2, order an Uber taxi, arrive at a friends, family, hotel.
Put some distance between you both, if it is this wonderful friendship that will grow into this everlasting love you crave it will have the chance to show up, if not you've at least given yourself a sense of pride, shown strength of character and a little bit of space to process it all.