Should I ask him out?

Ok so I' not sure if I should ask this guy out or not. I've known him for 2 years and he's a really nice and funny guy. The past 2 years over the summer he's a had a girlfriend and I wasn't allowed to date till last year (parents rules -.-). The last day of the program I see him is on Thursday from 7pm till 8am the next day cause its a sleepover thing. I would really appreciate advice please!
Should I ask him out?
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