We is a pronoun used as the subject of a verb, to mean the person communicating and at least one other person.
We can be inclusive:-
For example:-
"We need to get to the airport!"
Or exclusive:-
For example:-
"We need to get to the airport! Will you take us?"
Us is also a pronoun, but it is used as the object of a verb or a preposition to mean the person communicating and at least one other person.
For example:-
"Thank you for taking us to the airport."
In the UK we often use it to refer to a large group of people that includes the person communicating.
For example:-
"Us Brits have to stick together."
Many linguists will argue that it should be "We Brits", as in "We few, we happy few..." (thanks Shakespeare), and they have a point, but when we say "us" we sort of mean "all of us".
!Note - in the UK "us" is also a very informal way of saying "me".
For example:-
"Give us a gummy bear."
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