I'm so ready to ask him out

We hung out today and the voices are just getting too loud in my head. He keeps being super flirty and says we should go out to eat and he'll pay, nudges me, talks to me abt romance and stuff, and I'm just done. I had a perfect opportunity to ask him out while we were driving around but there's no way I could ask him out in my car. I want to invite him to go for a walk maybe next time and tell him I'm interested because I feel like this is just getting way too obvious.