Am I screwed or what?

Dated a woman in high school but we never truly broke up. Fast forward to now and she has found me on facebook. We hang out and have a great time. She's separated, had a kid, had a job, car and all the things adults should have. She'll be completely separated in November. She's allowed to date while she's apart from the ex so we're all good. I honestly had no plans of liking her beyond some drinks and maybe sex. As you probably know, i'm an idiot. I've got feelings for her now and she has the same problem. My problem is that i want her permanently. I'm 35 and feeling like a gf and eventually a wife and kids is what i want. I dont want to push her into anything as she's very stressed with this and now there's a custody battle going on for the daughter. She has met my family (again), some close friends and basically lives at my house a few days a week. She's my gf and we've both admitted its way more than sex. I'm just really insecure about all this and wonder if i should be doing it at all. I'm an optimist in life and i feel when you feel something strong, you go with it no matter what. I'm a lifetime commitment phobe but ironically i want a commitment with this woman. She wont give it the "i'm with you no matter what" stamp and its understandable but for me, not having that affirmation drives me nuts. thoughts?