I have no doubts he loves her, love confession was awesome, RK noticed a lot of things about Madhu that he gave as a reason he loves her. You don't notice specific things about someone if you are not in love. Also they were too many things he told her that night, if you want to know I have them typed up in a post courtesy of Vaani
Second day after confession when he was on set, when Madhu was not there, what he said to Bittuji that he is unlucky in love that he needs support to face life and that it's less risky to the heart to get it from alcohol. Then the dialogue to Avantika Singh (Chocolate Wale Heroine), "why did you push me to tell you my feelings for you, when you don't return those feelings, you have broken my trust, Madhu" ...Avantika says I'm not Madhu, Director says those aren't the lines the lines are such and such and he retakes the shot and still makes a mistake talking to Madhu...then Director sub either change the script make the heroines name Madhu or change the actress...to me that scene and the one before with Bittuji reminded me to what RK said to Madhu at the mandir the day before when he confessed (before farmhouse scenes) that "I don't know how to live Madhu, god sent me you to support me".
Based on that I decided he was madly in love with Madhu.
Thereafter we have seen the where he reconciled her to Shamsher Malik, and the way he talked Padmini also to reconcile to Malik. The way he did the matchmaking of Padmini to Malik again showing RK has changed as a character from janver a beast to human (please pardon the expression) but I hope you get what I'm trying to say before he didn't care about people he mowed down Mukund and a second person on the bicycle with no remorse, however, now he feels for others. Because he is in love he has goodwill for those around him.