Bykea Sitting With A Na-mehram
The actual prohibiting is of zina, for which precautionary measure are advised. Precautionary measure are not haram in themselves, therefore they are relaxed in given situations. Now the woman has to decide whether she is good to adopt this ride or not. We have examples in the traditions that Umm e Salam on her migration to Madina, was escorted by man from Makkah. And she admired his gentlemanliness.
Does escorted mean he was riding the camel too or just walking on foot beside the camel?