Thee are many offices and there seem to even be inconsistencies in specific offices. Many have been turned away and told they have to book an appointment. It can even depend on the staff member that day because I have seen some offices give passports without appointment and within the next few months require an appointment. Best to arrange a pick up time unless the office is close-by and it would not be inconvenient if you were told that you couldn’t get your passport and you will need to make an appointment.