Honestly this is such a relatable experience and I’d say you’re probably picking up on something really authentic there.
The 5D connection tends to bypass all our ego defenses and fears, so it makes sense that’s where you’d feel him most clearly. In person, we’ve got all our walls up, all our insecurities, worry about rejection, etc. I’d recommend not putting pressure on yourself to force the 3D stuff to match what you’re experiencing energetically. From what I’ve seen and read, the physical closeness tends to happen more naturally once you’ve both done enough inner work that those walls start coming down on their own. The fact that you’re already having those uninhibited visions is a pretty good sign that the soul-level connection is solid - the 3D just needs time to catch up.