Can we go back to being friends?

Good day mamas and papas in the house, please I need your help on this. I have been having an affair with a married and for a while now and we both work together. We bonded over common interests, started texting frequently, just friendly stuff about movies or books. A few months after I separated from my husband we began texting more often and our texts became more personal. Eventually we grew to the point of texting first thing in the morning through to last thing at night, telling each other we love each other. I consider him a good friend and I know he cares about me too. I don't want to see either of us hurt. One week ago we were alone at work and he kissed me for the first time. Last night we slept together. I don't feel used at all because I wanted that to happen just as much as he did but I was not prepared for the empty feeling when he left me to go home to his wife. I have no illusions of him leaving her and thought I would be happy being the other woman because I enjoy my freedom and my time alone. The only thing missing from our relationship was s.x but now I have this incredible feeling of guilt and shame. I feel like our relationship was once innocent and now it is not. Deep down I know our relationship has not been innocent for a long time and I know that I'm not a good woman for doing this but he feels so right to me. Can we go back to being friends? Please tell me that's not totally out of the question.