Trying to set those goals!

[Dom R]

on "not blowing the volunteer thing"..are you saying that you have NOT turned him down? that things are now open to you actually doing that together?

On camping:

Besides, I'm not sure what he could say that would be helpful. He could say "I have wanted to go for a long time." (And I will feel rejected because he wouldn't go with me.)

If he says that, then you have an opening for more conversation. Ask why he didnt go before. if it was the tent thing, you have an opportunity to say, "i guess that was a miscommunication on my part.. i would have preferred in an RV, but I really dont mind tenting it...."

Ask him about it. Make it just conversational. Show interest in him to some degree.

you are trying to wimp out by all these things he could say.
So what?
Forget about strategy, or any "desired outcome". Just chat with him about it.
You both like camping. sounds like a common interest. So, it should be a pleasant topic of conversation.

"where are you headed?" "oh should be nice this time of year/ Hmm.. isnt that rather hot/cold right now..." etc, etc.