Have you ever loved someone incapable of returning love in the same way?

Sure.  Especially when I was younger and didn't really hold a high enough bar for myself.

Yes but not in the way you think.
My mom is kinda cold with her expressions of affection. That's because she had a bad childhood and she was not taught how to express her feelings.
Sometimes I wish she would hug me because she wants to. I always have to go and hug her. She doesn't have initiative in these things. She doesn't know how to.
However that doesn't mean she doesn't love me. She just express it in a different way. But damn I feel so alone.
Sorry for venting. I know you referred to a romantic kind of love.