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The phrase "invite us" is grammatically correct and can be used in written English.
It is a complete sentence when used as a request or command. Example: Please invite us to your dinner party next weekend.
Exact(59)
My mother-in-law used to invite us for eating tsiaroki when the fruits are ripe.
They invite us".
Did anyone invite us?
Why does anyone invite us?
"They didn't invite us back".
seems to invite us to switch off.
Please invite us next year, too.
"They didn't invite us in," he said.
"Hopefully, they invite us back," he said.
They invite us to the prom.
They come to my home, they invite us to theirs".
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Since I tried Ludwig back in 2017, I have been constantly using it in both editing and translation. Ever since, I suggest it to my translators at ProSciEditing.

Justyna Jupowicz-Kozak
CEO of Professional Science Editing for Scientists @ prosciediting.com