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I'm black but I grew up in the Midwest and did a lot of outdoorsy stuff as a child. My mom grew up on a farm and my dad was in the military so being outdoors and gardening/camping/hunting was just something I grew up with.
I have cousins who would probably go camping if I asked them to but I think the biggest thing that turns people off is the initial cost of gear, and the potential of being cold/wet or having to deal with bugs or animals.
I regularly go backpacking with friends from work, but I have never seen another minority while out camping. I have asked my minority friends to come with but they usually ask me something like "you mean we have to sleep on the ground?". I have never experience racism while /out/ though and most camping types are your typical super nice hippies.