to join: to connect, to accompany, to meet, to become a member of
May I join you? May I sit next to you OR May I come with you?
Come join us for drinks. Come for a drink with us.
Join us (if you'd like)!: Come and accompany us (if you want to)!
UK: Would you like to join me on the sofa?
US: Lucy will be joining us later this evening.
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