I'm going to allow my boyfriend's son to cuddle/fall asleep with me
That's so cute. Why do you want to do that?
I want to cuddle him because he's a sweetheart who needs a lot of love
It is good to make children feel loved. It is great when people take interest and help kids growing up to be good adults.
It's a simple thing to do but I'm afraid of how he will feel if he finds out and also how I look like to others. He is 10 and I'm 32.
I don't think you have to worry about any of that! A child's relationship with their parents needs lots of love, and you are doing just that. Your age doesn't matter, so keep on loving him.