Relationships

How can I ask him out while letting him know I'm okay with being just friends as well?

Hi, I've known this guy for about 2-3 months now and we're pretty close friends. I like him and would like to date him, but I would also like to just be his friend if he rejects me. We usually hang out in a group, (him, me, his brother, my sister, and sometimes my brother will join us as well), I think he may have asked me out on a date when he asked me to go with him to a festival near our house. I wasn't sure if he was asking just me, or my siblings as well. So I asked if his brother was going, and he said his brother couldn't because he was busy. So we were about to just go as the two of us, but my mom forced me to take my brother and sister with us. The fair lasted three days, and we decided to go the next day as well so we could see the fireworks. Again, he said his brother wasn't going to come with us, and I was forced to bring my siblings with me. Then, about a week later, I asked him if he wanted to go to the football game with me, he agreed, and I asked if his brother was coming (just in case), and he said his brother was busy again. So it was just going to be the two of us, but last minute, my mom told me to bring my siblings with me, so it ended up being a group outing. Recently people have started shipping us together, and whenever we go out it feels (and looks) like we are dating, but we actually aren't. I am not sure if I'm the only one who feels the tension between us, or if he feels it too. I'm worried because I have accidentally friend-zoned him before, he doesn't want to ask me out. I really don't know what our relationship is. How can I have a conversation with him about what our relationship is while letting him know I am open to dating, but also okay with being just friends if that's what he wants?

Updates
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Hi, thanks for everyone responding, when I asked this question I was already considering asking him but the responses gave me motivation. We talked about our relationship, and ultimately, we decided to not make anything official yet and to focus just on knowing each other better. I am happy with this answer as I wasn't planning on asking him out as much as just clearing up any misunderstandings. He has had two exes, (I have had none so I have no experience), and both of them ended up horrible...
Updates
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pt (2) and ended up with him blocking them because he didn't know them well enough before dating them. He said he really doesn't want that happening between us so that's why we decided to take it slow for now.
How can I ask him out while letting him know I'm okay with being just friends as well?
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