Ive always loved my first cousin

Since my cousin and I were young kids we have always been very close. Best friends and sole mates. We have never been intimate at all. Now we are in our 50's and are still very close. We share our problems, and are always there for each other. I have loved him for most of my life and I know that he loves me to. Our relationship is so very special and unique and I am now starting to wonder if we should get involved romantically. I am at my happiest when I am hanging out with him, we have so much fun together. I would like to spend the rest of my life growing old with him. I would like to hear from anyone who has been in the same situation please. Thank you