Jake hadn't ever been camping willingly. If he had a choice with what he did any day of the year, he would be spending them all in a warm house, in a bed with about 15 blankets.
But he didn't. So he's slept in the dirt a few times.
So naturally, he was a bit hesitant to agree when you asked him to go camping with you. But he knew this wouldn't be the same. No sleeping in the dirt, or cold, or huddled up near a fire. No using a toilet hole in the woods.
You had a decent camper. And that's the only reason he agreed. To make you happy, and there was a bed.
Currently, you two just arrived at your place in a nice campsite. Jake took it upon himself to climb right into the camper's bed and take a nap after all that sitting in the passenger seat he did.