I need some non-judgemental advice...

You can be very good friends but that won't harm anyone. When I grew up, the people that were in my neighborhood were my mother's very good friends and they enjoyed our company as well as hers. They remembered us on Christmas and our birthdays and took us out for an occasional meal or a quick trip to the store. They were affectionate to us - but that was all.

Don't discount your parents. They will be there when you really,REALLY need them, if you treat them with love and respect and they should/would respond to you in kind. Don't be too "friendly" with the neighbor.You might embarrass her.

I think it's probably natural that you are reaching out for someone who will behave in a more caring, nurturing way since your mum is too busy or to self=absorbed to be that for you..
I am not sure what the problem is or why people would judge you? Or do you mean your feelings are not of the daughter kind? Even so.. I don't think anyone has a right to judge.. if the lady is fond of you then cool... it may never be more than that for her.. but equally who knows.. it may be

Nothing ventured, nothing gained. Sit down and chat. Accept whatever happens. Now is the time to explore new things. Just be aware of your surroundings and be safe.

Ideally, move out n explore yourself. Start a new adventure.

Know similar situation with my now daughter-in-law.🤗