You inviting him might just knock him on his a** out out suprise. It's ok if he says NO. Try again another day. Many times I invited h and he said NO and even was a NO SHOW NO CALL at times. Let it go if that happens.
The last time H went out to dinner with us was exactly a year ago for S5's birthday. We asked him 3 times over the next few months after that and were rejected each time. I let it go and didn't ask him again until yesterday to join us again for S5's birthday dinner tomorrow night. He accepted.
I really don't think it means much for our R, but I know for sure that S5 will be thrilled.