Let's say my roommates and I are planning to go to place X, and they are waiting for me to get dressed.

After getting dressed, I might say something like this:

Dude I am ready, let's go.

What I want to say is:

Dude I am ready, should we go now?

Can let's go be used in the second expression in should we go?

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    Not if you want to ask it in the form of a question. "Let's go" is more of a declaration – perhaps exclamation, even – than a question. – J.R. Mar 12 '13 at 8:49
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    I'd go even farther than @J.R.: an injunction. – StoneyB Mar 12 '13 at 10:32
  • Isn’t “Let’s go” an imperative? – Scott Mar 13 '13 at 1:21
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    Thor, if you are satisfied with the answer, accept it. If it is useful, vote it up. If it is not useful, vote it down. – James Waldby - jwpat7 Mar 16 '13 at 5:03

Let is used to make suggestions, as in "Let's go to the beach."
Another way to make suggestions is using shall, as in "Shall we go now?"

If you want to make it sound as a question, you can use shall.

Should is used for giving or asking for advice.

You should stop thinking of her.

Should I answer to the phone when I see it's her calling me?

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