What does he want?

If a guy says we should hang out what does it usually mean? Let’s say we’ve been texting for awhile (kinda flirty but also casual) and he has no trace of a girlfriend or anything. He asks to hang out, but is it in a friend way, a date way, or a hookup way? How can you really tell? I’m pretty reserved because last summer a guy asked to hang out with my friend and he ended up raping her :/ He made it sound like they were just going shopping but he did that in his car instead (she pressed charges by the way). But anyways, I kinda like texting this guy but he’s had sex before so I’m wondering if he asks to hang out whether it will be just for sex or like a date type scenario.