What are you thinking about doing? Not going? Or telling him not to go?
Here is what I would say. If you want to go, go. They're your friends. If you are there and it feels weird and you want to leave, leave. If you decide you don't want to go and want to go do something else fabulous instead, by all means do that.
What I wouldn't recommend doing? Calling him to talk to him about it and using this as an excuse to start an R talk. Just. Don't. I totally know the feeling. Resist!!!
Also, good job on your last interaction not mentioning dinner or planning anything. I know that was probably tough and you did it! I have another suggestion-- next time he goes in for the half arm hug, don't give him a full hug back.
I also know the low-level discontent you get when you think things are going in a certain way and they don't. You just have to live and breathe through it, try your very very best not to say or do anything when you are feeling like that, and then decide once you're on the other side of those feelings how you can respond. Remember that he's also in a totally confused place and even if this ends up going in the direction of R it is going to be two steps forward, one step back, so try not to dissect and analyze his tone, words, length of hug, whatever. Just keep focusing on you.
Me (46) H (42) M:14 T:18, D9 & D11 4/19 - 12/19: series of escalating BDs 9/20 - present: R and piecing