Is it too forward to invite a guy (who knows I like him) to join a group of friends to do a specific activity together?

Or should I just assume that if he wanted to join the group for the event, he would have said so without me specifically asking him, and that I should just wait until he invites me to join group events? He had said it hurts him when people don't specifically ask him to join group outings, whereby they just send out general invites to the group. So that makes things complicated.

Is it too forward to invite a guy (who knows I like him) to join a group of friends to do a specific activity together?
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