My hunch, and it's purely a hunch is this: O'Rourke knows he can't get the nomination, so he's been promised some other 'party favor' in exchange for being the decoy. He takes the extreme position so that the party's actual nominee looks reasonable by comparison.
And it looks like Mr. O'Rourke is perfectly comfortable sending people into your home to take your guns:
https://bearingarms.com/cam-e/2019/1...oor-take-guns/
(I couldn't find the original source video)