Should I just go or ask him before I go?

Everytime I ask him if I can go visit him at his workplace, he says "stop asking me that, it's your choice".

He works alone and usually has nothing to do in the evenings. But I feel like I'm too needy if I just go uninvited..., but I want to see him

What should I do?

Should I just go or ask him before I go?
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