What does it mean when he kept touching my thigh? Is this ever an innocent action?

I'm 33, he's 51 for reference. I hung out with a guy friend of mine recently and he kept touching my thigh and would let it linger occasionally. We've talked about potentially dating and stated we like each other on multiple occasions. However. He feels long term it wouldn't be fair to me in the big picture for me. He texts me almost every day and tells me Good Morning everyday. He tells me he looks forward to getting messages from me everyday. And loves our friendship. So why touch my thigh? Then go back to his place. He literally set at the opposite side of the room. Was it to prevent more from happening? Nothing happened. Then I went home and we talk most of the night as well. If he doesn't want to progress things or sleep sleep with me bc he doesn't want to complicate things. Why keep the friendship? Wouldn't age be an issue even as friends?
What does it mean when he kept touching my thigh? Is this ever an innocent action?
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