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Have you ever heard "I know that we may not have a future together, but I will settle for right now, in the moment" that is almost me. I don't feel like I am settling with him, but I don't know if I will ever to curb his need to get out and venture.
Here, it depends what you want out of the relationship. If you're happy to settle for something casual and live with the fact that it probably will not last (and you're completely HONEST with yourself about that, not just using it as an excuse to continue) then that's your prerogative and if it works for something casual, go for it. But judging from your attitude, this isn't what you want, otherwise you wouldn't be fretting so much about his reluctance.
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Should I ask him if that is what he wants? Do you want time to go spread your wings, go try new things, and if you decide that maybe that really wasn't what you wanted I'm still here for you, is that wrong?
Of course you should talk to him. Give him these options. But be critical of it still... while he's 'spreading his wings', you are not available... and when you are available, his wings should not be spread.