If you get to know a Japanese person, you may hear from the person “Why don’t you don’t you drop in our home when you are near-by.“ That person never expect you to really come over. You should be aware that this expression is mostly a kind of greeting expression to show friendship.
If you really visit his/her home, when you have an opportunity to be around. The person will be embarrassed.
When the person really wants you to visit, he/she will be sure to ask your convenient date.