I just received my iPad I signed up for the online session on setting up my iPad for tomorrow can I still make an appointment to go inside an Apple store to get someone to show me hands on?

I'm sure that would depend on the store and how busy it is. Contact the store...

Apple Store - Find a Store - Apple

Due to the lingering pandemic, Apple has suspended most of those activities in store. The Genius Bar now mostly deals with hardware problems/repairs. And merchandise pickups are done mostly outside (with someone bringing out your order). I observed that recently while waiting for my (repair) appointment.

You can check with the store(s) to see what services they currently offer.