Hi there! I’m aroace and married to an allo person. Basically how we got together was, we had been friends for a while, and quickly became best friends who spent a lot of time together. I was comfortable sharing my identity and the details of my aspec experience with her, and she was genuinely interested in finding out more about it. I think this was when I first thought she might be interested in me. It was so subtle that I assumed it wouldn’t matter, because she knew I was uninterested in a relationship and still wanted to spend time with me.
It got to the point that I would spend the weekends at her house, and when we were apart we would still talk about our hopes for the future (children/no children, what kind out house, job, pets, etc.) I realized that I wanted to build my life with her, despite not having the same type of feelings, which I had been noticing coming from her. I told her how I felt, and she was thrilled.
A lot has happened since then, and it was at times very difficult. We loved each other, but the love we had and the love we needed were sometimes at odds. It took years until we were certain that our relationship could last.
Regarding your concerns: yes, I have felt guilty at times. The best thing to do is be transparent about how you feel, with regards to your own wants/needs, but also towards them. This includes not lying to yourself. When you communicate and understand each other, guilt fades away.
Physically most of our contact would probably be considered platonic. We do kiss and cuddle, but not that much. We are not shy around each other, but contact does not really do all that much for either of us. There were periods in our relationship where we tried more physical affection, and it was okay sometimes, but it also felt a bit off. There are many ways to be close, and we prefer other ways than physical.