Ignore the other answer that says you can't. You absolutely can. But get there early. I mean aim for 4 am and bring a chair to wait in line until they open. They give appointments on the same day, but they are extremely limited and first come, first serve.
No, if you need to use another location for the appointment you can. You can also call to be sure
I made an appointment and it was for a month after. When I went they were giving walk ins appointments for later that day. Just get there early. At least an hour. They. Have extended hours. Or find a location with an earlier appointment.
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