My friend was told by her British teacher that we could speak "go have a coffee"...
My friend was told by her British teacher that we could say speak " Go have a coffee" . . That's fine as casual English.
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My friend was told by her British teacher that we could say speak "Go have a coffee" . . .
That's fine as casual English. Less casual is 'Go and have a coffee'.
"Let's go (and) have a coffee." Is very natural and common in American English. Some people say "and" and others don't.