" if I am actually going to drive the person there? No. In fact, "take" can mean two slightly different things here -- either merely to transport the person there (for any purpose), or to accompany them on a visit to the zoo as a treat or outing, often said to a child.
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Gene93Is it true that we can't say "I will take you to the zoo tomorrow morning." if I am actually going to drive the person there?No.