+ You should never end a sentence with a preposition. (Sheer bullshit: English uses countless phrasal verbs ('throw away') and in many other cases avoiding the final preposition produces stuffy nonsense.)
This is an ineffective counterexample. "Away" is an adverb, not a preposition.
Hah: I'm a dope. I originally wrote 'throw up' and changed it because I thought people would object that it was informal. I picked 'throw away' pretty much at random, starting with 'throw', and I didn't even stop to analyze 'away'.
I can no longer edit the original, but thanks for the correction.
But easily revised to "Do you want to come with us?"
Not that I particularly think the rules are inviolable. I see them as guidelines: if you're using the passive voice then make sure that it won't be better in active. If you're ending with a preposition, then perhaps there's a clearer way to phrase it.
This is an ineffective counterexample. "Away" is an adverb, not a preposition.