Do I have to make a appointment or can I just walk in at this location to get my ID

I scheduled an appointment for the same day.

If you have a "good" reason like your current ID would have expired by the nearest appointment date, then you can ask for a walk in at the entrance. Wait outside and be there immediately when you get called.

You can do a walk in, but you have to be there when they open as they have a limited number of walk ins.