I am so lazy, I would only go out with a person if she drives me to our date.
I am so lazy, I will only go out with a person if she drives me to our date.
Are both sentences grammatical?
They are both correct. org/en/english-grammar/will-or-would
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They are both correct.
Read this for help in understanding:
https://learnenglish.britishcouncil.org/en/english-grammar/will-or-would