it's been 6 yrs. definitely if you still have or are developing feeligns again for him it's worth considering. Sounds like you broke it off in an amicable way so that's good too.

regardless of the reasons, sexual or otherwise, things can change drastically in 6 years so maybe the same problems will be absent this time around!

if he shares your interest I say go for it but just take it one step at a time and remain aware of the areas that could prove challenging. Go slow, don't jump in all at once and it could be something that works!