Driving just a short distance with low tire pressure is usually okay which will allow you enough distance to get to somewhere to inflate your tires.
But driving too long of a distance over 10 to 30 miles could weaken the tires and cause a blowout so always get your tires inflated.
I've stopped at auto shops before and they've inflated my tires for me for free so stop in and ask one of the auto shops if you can get some air in your tires and they likely won't even charge you anything for it.
Or ask a neighbor if they have an air compressor or even buy yourself a cheap pancake air compressor to keep around your house in your garage to inflate your tires when they're low on pressure.
I now have an air compressor and wouldn't be without one.