Im confused your title sais wormhole camp defense but all your text suggests null sec and gates, so for now ill assume null-sec and gates.
There is a few things you can do, usually in null sec you will want a mwd so that when you land on bubble you can burn through to gate and jump as quick as possible hopefully your enemies agress and they cant jump after you. If some jump after you a nice strategy is to align to where you want to warp and hit mwd and then lock the incoming tackle ships and try and pop them before the rest of the fleet catches up to them, as soon as they die you will be able to warp off.
You can ping,pounce lots of names for it where you warp to a nearby celestial and aim at the gate with a 15 degree and D-scan to see if its camped, although a lot of the time enemies choose systems with 1 gate that is >15 au from anything else.
You can overcome this by using an interceptor first and burning 300km off of every gate on your route from high to (null-sec) home and making a personal bookmark (ping,pounce) allowing you to warp to those first to see if the gate is camped.
An alternate strategy is to travel to your nullsec home and scan for wormholes and look for a high sec connection and bring all your stuff through that wormhole, but make sure it has as little chained worm holes as possible as each one will increase the chances of you getting caught.