Potete unirvi a voi se volete.

English Translation

You can join us if you want.

In case I missed another grammar rule, I apologize , but is this the correct translation? “A voi” becomes “us” in English?

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I’m also missing any indication for “us” here.

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Typing error? …unirvi a noi …

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There are 3 translations from the original English sentence into Italian over at Tatoeba, all by the same author (Guybrush88) -
Puoi unirti a noi se vuoi.
Può unirsi a noi se vuole.
Potete unirvi a voi se volete.
Since the others use noi, I suspect that this is indeed a typo.

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