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I meant to reply, I had a similar situation, except that my son was a bit older. To give you some background:
We began daycare at age 2. He stayed there for a year, but never full time, he was there at most 6 hours per day.

We transitioned him to a nature based preschool camp a year later. Since we had about a month between the end of day care and the beginning of camp, he stayed at home with my parents. He did great that month.

Then came time for camp, and the transition was also great. He went, my mom handles drop off and pick up. We have had some bumps along the way, but that is mostly due to things like changes in staff and the actual classes. We talked a lot about the transition, we had a teacher from the new school visit us at home, we visited the new place a few times before we went there officially, that sort of thing.