You also have to consider that oftentimes the lack of a decision IS a decision.

I understand fully about boundaries and not wanting to impose your will on another (or demand ultimatums or agendas - the walls will go up!) but it is entirely ok to share your feelings with another. Uncle Bob can share his heartfelt feeings with Aunt Ro and you can too. Just don't tell her what to do, rather what her potential loss in your life will mean to you.

It sounds like they have a pretty healthy relationship but a little weak in the (sharing) feelings department. Not that the feelings aren't there but they must be spoken or written. One must never assume that the other can read your mind - no matter how many years you are together.