Cyber Squatting Intellectual Property

I purchased many domain names 5 years ago. One of which is someone I know, and over the years they have become famous, at the time, they were not. We are in contact regularly. They have not inquired at all about the domain. As a businessman, I would like to sell the domain at market value. I would ideally like to offer at market value to the person I know, but do not want to be accused of cyber squatting and possibly lose the domain. I am not using the domain name as a website. The person I know who's name is the same as the domain, is not trademarked but used in commerce. By offering to sell them the domain name risky, as it has been nearly 5 years, or would it better to offer it on the open market? It is a first and last name, and probably hundreds or thousands of people have the same name, but are not celebrities.