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2 years is more than enough time for him to have committed to you and he hasn’t.
He has kept you around because he knows that you are someone that will be there for him and this gives him a sense of security.
In essence, he is getting what he needs out of you but is unwilling to make the ultimate compromise.
He knows that committing to you would mean that he will have to be accountable for his actions or lack thereof and he doesn’t want to be responsible for that.
He has become very comfortable in this 2 year ordeal and has no intention of making a change.
Yes, you should completely end it.
He is not trying to figure anything out. Sticking around will only encourage him to continue acting in the same way that he always has.