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I think it would be a wise decision to take him, let you to bond and teach him at the same time. Were you planning on having him shoot?? or just be there??
EDIT: After re-reading your post it seems just being there is the current plan. As for the whole "death" thing, he seems to have a firm grasp on the idea of death and what actually happens. I think he would be fine to go.
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You Know......Sometimes you just can't fix stupid!!!! 
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