No you aren’t a bad person. And yes it’s ridiculous

They do not need him all the time. He just isn’t interested in having actual relationship with you. You either accept the crumbs or you finish it and move on.

You can’t control what other people do. You don’t need to wait for him to end it. You can end this nonsense yourself. If this arrangement feels wrong, then why you aren’t ending it.

He probably isn’t bothering with ending it because there isn’t much to end. There is really no relationship.

You asked what would we do. I’d dump him. Like yesterday. If a man is interested in you, he’d take care of his parents AND be in a relationship with you. That’s what people do. You don’t even know his parents! So he just isn't that interested.
Dump him.