For your application I'd go buy some receiver tubing for best fit, but even then it will be a little loose. I think my local supplier sells it for like $40 each. I'd then drill a hole on one of the sides and weld nut over it to be able to run a bolt for tension.
Standard tubing (even DOM and 4130 with better dimensional specs) isn't made to tolarances that reliably allow for telescoping. Sometimes they work together, sometimes they don't. The other issue is tubing is never straight, so the longer the slip fit interface, the more likely they are to bind. Add a seam into the mix and it's a real pain in the ***.
These are some clamp on brackets I made to hold a bike rack to a trailer bumper. Same cocnept as I described above. The pieces can be had for under $20 on Amazon.