Scott - Are you very close to the parents of your sons friends at school? or sports team parents? I would casually work into conversations about camping, and see where it goes.
My daughter's school is a very tight knit community. A yearly event started out with a few families from the same grade going to a state park that has lots to do for the kids. (Spring fed stream for swimming, hiking trails, bike trail, fields for sports like soccer, kick-ball, and any other team sport that they can organize.) Over time it has grown to include an invite for pretty much the whole school. The state park has cabins for families that don't have or don't want to have an RV, but it still allows them to participate. There are families with big class A's, down to canvas tents, and everything in between including the cabins.
Maybe try to organize something like that to find families that you have other things in common with. We have also invited our friends to our campsites for the day that ends with a BBQ in the evening with sitting around a campfire. To avoid having to play "Host", we tell people that we are here to relax just like they are and to feel free to help themselves to whatever they would like or need. If camping "speaks" to them, you'll know it.
We also allow our daughter to bring a friend a lot, sometimes we'll even invite them to stop by for a cocktail or dinner one of the evenings. Hope some it this helps.
Doug
2009 Four Winds Hurricane 33T
F53 Ford Chassis w/Triton V-10