I've always thought that Haruhi just wants to visit Kyon's house or do something that Kyon actually wants. Kyon doesn't seem to be all that enthusiastic for any of the events Haruhi has set-up.
So basically she just wants to spend time with Kyon on something that Kyon actually wants to do. Having a chance to visit his house and helping him do something makes her satisfied for the summer.
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