No you must have an appointment otherwise you will not be allowed in the building. They will ask you covid questions before entering, they take your temperature. Avoid going in there by yourself, hire an attorney go only with him/her. Do not go by yourself, you can get into legal trouble, because they think you are trying to get legal advice without counsel.
They don't allow anyone without appointment. Call USCIS or email them. They would answer your question/concerns.
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