someone tell me it's okay to break up so I can do it!!

I have been seeing someone with autism and is a coworker. after seeing him for a year, I feel like it is not working. I want kids but he doesn't sound like he wants kids or is capable of taking care of kids. I have been encouraging him to drive, but he sits on it because of his autism (and before people say that autistic people can't drive, I know a guy with high funtioning autism that drives to church and back). I find the driving thing a problem because I rely on spending time together to build a relationship, but we can't see each other often because he has to figure out when his mom can drive him which is why weve been in the seeing stage for so long. I also want someone to be able to take care of me and bring me to the doctor if I need it, but rn I am really sick and he offers to have his mom drive which I find really uncomfortable. also, communication is an issue because when we first starting seeing each other, he would only message me every two weeks or not at all if I don't put in the effort. also the texts were cold until he started learning how to communicatw with me. I feel like not everything is working because of his autism. I also noticed that he feels like his communication towards me gets lovey dovey towards me only when he wants to show me off to relatives or brother, but on a normal day it's just kind of half cold texts and doesn't seek to hangout or initiate (which could also be because of his autism). It's not all bad, and he can be very sweet and empathetic when I express my concerns or am going through something. I fear breaking up because he is also a coworker but also I am just feeling like he's not a good match. someone tell me it's okay to break up so I can do it!!