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Could One of Two things in my wise years of advice: One: He is perhaps missing you, has had bad luck with the dating deal and wants a shot at you for a little action between the sheets, which could be a 'friends with benefits' thing, Let's see what happens along the way... Two: He wants you back, sincerely wants to make it try and work again.
Go slow with Joe. Find out what he wants.
Good luck. xx0