Discuss these concerns with your PCP and/or Therapist. Don't attempt
after any recent change in medication/dosages. Stay local. Utilize all your "safe" resources. Have a Plan "B". Be flexible. Short sojourns first so a clearly visible end-point is noted..even if that just means a stay-cation. Go slow. Single day camp, or single over night is o.k. until you see how things progress. Sometimes one step forward and two steps back is great. Have reliable , knowledgeable , familiar camp mates.
Good luck. Many here can relate in some form.
Charles