Would you like to go with me to hear the orchestra ?

你要不要和我一起去听管弦乐。

I'm going to pick XX up, would you like to go with me?

是我一个人去接还是你和我一起去?。

I'm going downtown this afternoon. Would you like to go with me?

我今天下午要进城，你想跟我去吗？（作副词）