Camping and cooking equipment take up a lot of space and weight on the bike. I would skip bringing that stuff since it sounds like you would barely be using it if you brought it. You only want to carry things on the bike that you will be using often.
When I did my trip down to Argentina I took camping gear, but only ended up using it a hand full of times.
Stealth camping in Latin America is harder to do than in the USA. There are a lot of remote roads in North America, but that is not the case in Latin America. In general, if there is a road in Latin America, then there are people living up and down it everywhere. I can't tell you the number of times I picked a camp spot that looked secluded and woke up in the morning with 10 people walking around.
My advice is to just take one of those emergency bivvy bags. They barely take up any space in your luggage and if you are in a situation where camping looks good, you have a solution.
If you do take a tent, then I would just get a $30 amazon cheapo tent. That way it is not big deal if you decide to gift it to someone or throw it away because you are not using it.
20 kg is a considerable amount of weight for something you are hardly using. If you are riding mainly paved roads it probably isn't a big deal.
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