No, this doesn’t seem too much to ask. You have two people in your life that love you very much. The struggle is they are not the same page.
To say that you are looking to have a less intense sexual relationship to see what the two of you want next sounds good, even if is a temporary experiment. I would also let your mom know how much you appreciate the love, but that you have to make your own decisions and errors in life. It’s important you say both of these things to your mom. She obviously cares about you but you can’t live your life only to please your mother. That would be a fundamental error.
I like the fact that you and your boyfriend talking about how to move the relationship forward in mutually agreeable way. If it is going to last you will survive this experiment. If not — it was a worthwhile test.