Honestly, as long as you watch his body language you should be fine. I'm not saying you won't have a scuffle EVER but more than likely since he's not dominant you won't have any issues. It's scary to start introducing your furbaby to other dogs when you're unsure of how they or the other dog might react.
Luka isn't necessarily dominant and plays great with other dogs as he's been socialized from day one but I was so nervous about letting him play with our foster dog, Bexley. Overall, I just watched them both and it was fine. They have been in a few "disagreements" but warning growls were given so it wasn't exactly a surprise.
If you want him to be able to play with other dogs I'd def just start doing it. It's the easiest way, I wouldn't fret too much over it.