Most Helpful Girl
You Need to change this 'Hang out occasionally' to More often. It is a better way of nursing and nurturing things to 'The next level,' where you can be together with maybe More in store and See if it gets you to where you want to be with her.
If you have been together this long in 'Still pretty good friends,' then you above all, have a better Chance for a possible romance.
Good luck. xx