The question consider an elliptic curve group over a finite field $\mathbb F$, with that group of even order $2k$, and a generator $G$. It remarks that $2$ has no inverse modulo $2k$. And that if points $P,Q$ are such that $Q=kG+P$, then $2Q=2(kG+P)=(2kG)+2P=\mathcal O+20=2P$. Notice that $2kG=\mathcal O$ follows from the group order being $2k$.
- Is the difference a 2-torsion point, as I suspect?
Yes, if $Q=kG+P$, then $R=Q-P$ is a 2-torsion point. That $R$ is a 2-torsion point by my definition means that $R\ne\mathcal O$ and $2R=\mathcal O$, which the later followng from $2R=2(Q-P)=2(kG+P-P)=2kG=\mathcal O$.
- Is there a way to cancel this term and compute the half of a given point in some other way (without using a multiplicative inverse which is missing)?
In that elliptic curve group, "the half of a given point" $P$ is not a well-defined point $H$. That's the set, possibly empty, of the point(s) $H$ on the elliptic curve such that $2H=P$. If $H$ belongs to that set, then so does $H'=H+kG$, since we'll have $2H'=2(H+kG)=2H+2kG=2H+\mathcal O=2H=P$. And we can't have $H=H'$, for this would imply $kG=\mathcal O$, contradicting the hypothesis that $G$ is a generator of a group of order $2k$.
If we are given a point $P=uG$ with $u$ given or somewhat found from $P$, then the set of $H$ is the set of $H=vG$ with $2v\equiv u\pmod{2k}$ (Note: $G$ being a generator implies $u$ exists, and $v$ exists if $H$ exits). The equation $2v\equiv u\pmod{2k}$ is in the ring of integers modulo $2k$. It has a solution if and only if $u$ is even, and then has exactly two distinct solutions in that ring: $u/2$ and $u/2+k$. There are thus exactly two solutions for $H$, which are $(u/2)G$ and $(u/2+k)G$. And yes the difference between these two solutions if $kG$, a 2-torsion point per question 1.
If we are given $P$ but do not want to make the (possibly impossibly hard) work of finding $u$: we can test if there is a solution $H$ to $2H=P$ by checking $kP=\mathcal O$. That condition is necessary, because if $H$ exists it holds $kP=k(2H)=(2k)H=\mathcal O$. It's sufficient (argument: it implies the order $u$ of $P$ is even). When $k$ is odd, a solution is $((k+1)/2)P$, and easily verified: $2H=2((k+1)/2)P=(k+1)P=kP+P=\mathcal O+P=P$. The other solution is $((3k+1)/2)P$. I'm still struggling with even $k$.
- Is there in general a way to tell such two points apart?
If we know only that $P$ was obtained by doubling $H$, there's no way to tell which of the two solutions is the original $H$. It's possible define a criteria to choose a particular one, like if $P=uG$, we choose $H=((u/2)\bmod k)G$. Or prefer $\mathcal O$ when $P=0$, and the solution with the lexicographicaly smallest representation in uncompressed coordinates otherwise.