Welcome to ePlaya, The Toad!
I would definitely encourage you to seize the opportunity to participate in Burning Man this year! It will be my first year, too, and I understand why you're feeling daunted.
Here are some things to think about as you make your decision:
1) When your friends first told you about Burning Man, what in particular made you interested in participating? Did you want to spend a vacation with them doing something they were passionate about? Or was it the idea of the art, the freedom, the challenge of the desert and the general carefree craziness? In other words, did you think to yourself "I want to be part of that!" or did you think "If I go, I'll be closer to them as friends because I'll know what they're talking about with all this 'art car' and 'playa' stuff"?
2) While leaving no trace and relying on yourself for a week in the high altitude dusty desert certainly requires a good measure of preparation, when you feel daunted, remember that tens of thousands of people do the Burning Man thing every year and come out alive (and happy!). Make sure you read the survival and the first year guides (http://www.burningman.com/preparation/event_survival/
). Poke around the eplaya for TONS of archived hints, tips, and advice. If you have a specific question that you can't find after searching this site or by Googling "eplaya topic_of_interest," don't be afraid to post that question here. I'm constantly amazed at the welcoming support and great advice of the veterans here. Do be prepared for good-natured snark on eplaya, especially if you ask a question that's answered in the guides.
3) Where to camp: You don't have to camp with a village or camp. Plenty of people go solo and enjoy it that way. There is walk-in camping if you carpool out and there is park-in camping everywhere else within the city. Again, read the guides. Also, look here: http://eplaya.burningman.com/viewtopic.php?t=36767
If you want to be in a group, plenty of camps are actively soliciting participants who fit their themes: http://eplaya.burningman.com/viewtopic.php?t=54139
4) As far as finding people and places once inside, I have two things to say:
Firstly, you could familiarize yourself with maps of past city layouts (http://www.burningman.com/preparation/maps/11_maps/
). Basically, radial streets are number as if on a clock face and circular streets are in alphabetical order. Know this, and suddenly addressed like "4:30 and G" make sense!
Secondly, I have seen many, many posts from veterans cautioning newcomers from worrying about planning and scheduling and sight-seeing all the "must see" art and events. Playa dust is apparently crack and we are all but distractable ferrets in the wind. Basically, there is so much going on that the best schedule is to wander freely and spend time participating in what you enjoy. That may be sipping a cold beer in the shade while receiving a massage, that may be dressing up like a fairy toad princess and dancing under the stars to dubstep, or that may be climbing to the top of the very tallest piece of art you can find and yodeling. Besides, apparently half the events don't occur at the time/place posted anyhow. Be spontaneous and live in the moment!
If, after you do some reading and thinking, you feel that Burning Man isn't the type of place you'd enjoy, then wait a few weeks. Come back with a fresh mind and reconsider. If you still get the feeling it's not for you, then you can pass your ticket into the STEP program or on to a friend.
But if your uncertainty is rooted in "it sounds fun but difficult" rather than "art and parties are fun and all but it'll be lame without my friends," then I say to you right now: if I can do it, so can you! You've got a truck and plenty of time yet - it's going to be great!