This is 100% how I've worked. Instead of a strict binary of platonic and romantic, I see a constellation of feelings. Sometimes someone who's a friend my feelings might be seen by others to lean romantic. But I'm not afraid of how I feel and I always try and respect people's boundaries.
I love my friends, and I don't feel the need to caveat that with "but in a friend way". I love them. Full stop, no sub categories.
And I think this is why all my past relationships (bar one toxic person) and loads of dates I've turned into successful friendships.
