Is it too soon?

I've been seeing this guy (30M) for almost two months, I spend two night every week with him, we both have kids so of course they are around too. We are both seeing each other exclusively. In the beginning he was very positive about everything, but about two weeks in he expressed doubts, or being on the fence about having a relationship with me. However, despite that we continued to see each other and date. From what I can tell he has a good time when we're together, as do I. I want to talk to him about where it's going but I'm scared it might be too soon? I mean he must like me if he continues to see me and talk to me every day. Though we've never talked about the subject of a relationship since he expressed being back and forth about it. I just want to make sure he's ready to talk about it and not do it too soon so I dint scare him off. It's the first relationship I've had that's healthy, I can't fault him for feeling the way he does, everyone is allowed to have their feelings. I just don't want to mess it up. Is it too soon to talk about it? How do I go about bringing it up?
Is it too soon?
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