An antenna assembly may be positioned within a wellbore in a subterranean formation. The antenna assembly includes a tubular antenna element to be positioned within the wellbore, and an RF coaxial transmission line to be positioned within the tubular antenna element. The RF coaxial transmission line includes a series of coaxial sections coupled together in end-to-end relation, each coaxial section including an inner conductor, an outer conductor surrounding the inner conductor, and a dielectric therebetween. Each of the outer conductors has opposing threaded ends defining overlapping mechanical threaded joints with adjacent outer conductors.