Does this mean something?

My guy friend and I were out late driving home from an activity and ended up laying on the roof of his van under a blanket, then in the back of his van next to each other. I said I was cold so he put his arm around me and we napped like that.
We're good friends and spend a lot of time together and have slept in the same bed before a couple of times. Whenever we do he slides right up next to me so our sides are touching and has put his arm around me before.
We arnt completely platonic because we kissed and slept together several months ago but haven't done anything except share a bed occasionally since so I don't know where we stand.
I appreciate any advice on this. Does this mean something or is it just friendly?
Does this mean something?
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