go for it ?

so i have liked this boy for a while now but we are really good friends. a lot of my friends have brought it to my attention that he seems to like me and there have been little things that i noticed. when we are all hanging out we always end up talking just us for a while by the end of the night. one time he drove me home and when i was talking just turned and smiled at me when i was talking. and then he drove me home and we sat in my driveway and just talked for 10 mins. so i guess what i am asking is should i just shoot my shot ? bc he is so goddamn confusing and i just need to know but i don’t want it to be awk btwn us.