That is a lot better then trying to assemble a camping kit on the road once you decide you need one.
It depends on how likely you figure you are to need it. If I was pretty sure I wouldn't need to have it along I might leave it home.
That question isn't likely to come up in my case since I generally camp, but if I decided to go on an all credit card tour maybe. If needing it is unlikely it isn't impossible to have gear sent to you.
I have gear that is light enough that I could take sleeping bag, bivy, pad, and tarp and be under two and a half pounds so taking it along would be more tempting, but taking 20 pounds of stuff mentioned earlier in the thread would be a non starter for me if I wasn't planning to use it. I'd already be second guessing myself for taking it at 2.5 pounds if I didn't think there was a fair chance I'd use it.
Having the gear gathered and ready at home (or someone who can do that on the fly) is an option if you have someone who can ship it to you. It could be boxed up and ready to go. I know that I have both sent and received stuff from home via the USPS when on tour and it worked out fine. Using General Delivery worked well if I chose a town with only one post office to avoid confusion about where the package would be. If timing didn't work for pickup, I just requested the package be sent to a post office further down the road on my route.
Some middle ground is also possible. If you don't own UL gear, some minimal means of surviving the night without full camping gear might be possible. Having a sleeping bag and a small tarp (a poncho?) might suffice. Adding a sleeping pad would add a lot of comfort. Any way you could survive a night or a couple nights out side while waiting for the package to catch up to you if you needed to.
I pretty often cowboy camp even when I have my gear along and have just pulled the tarp over myself and my gear when there was unexpected rain. It wasn't the end of the world. So going with just a small subset of the typical camping gear may be an option for some.