I can absolutely guarantee you can't put a 2-3/8" pipe in a 2-3/8" dirt hole. Use a regular old post-hole digger and a stick for tamping and you'll be able to pack dirt around the pole to firm it up. If you use plumbing pipe, nominal 1-1/4" steel pipe should be fine. Two inch would be overkill. With a post-hole digger you can reach four feet deep, which should be enough for nine or ten feet sticking up out of the ground. You'll need a farm jack to get it out, along with a plumber's wrench big enough to span the pipe, and a length of chain.
DO IT AT HOME FIRST. I can't stress this enough. If you can't do it right in the middle of your front lawn, don't fucking bring it to Burning Man. If you don't understand anything that I typed, I recommend Scrabble instead.