Look at the certificate. If any item is graded Dangerous the answer is no. The car must not be driven on the road until that defect is repaired — not home, not to another garage, not "just round the corner". Driving a car in a dangerous condition is up to £2,500, three points and a possible ban, and your insurer can refuse a claim.
Then it comes down to your previous certificate:
The exemption is for driving to an appointment that already exists. Book first, then drive. If you fail with us and we're doing the repairs, you don't have this problem: the car stays here and the retest is free.
An Advisory isn't a fail — the car passed. You can drive it normally. The advisory is a heads-up that something will need doing before long, and it's on the public MOT history for the next buyer to see.
Ask Lois. Paste the certificate or photograph it and she'll explain each item, its grade, and whether you can drive.