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As a question, even though not literal, I think "do you want to grab a drink" or "have a drink" or "go [out] for drinks" would be more common. "Let's have a drink" sounds forward and not much like a question even with intonation. Granted, it probably works because of that.
A proposal is essentially a question, but I'm talking about how the declarative sentence "Let's have a drink." is not an interrogative like the Portuguese "Shall we have a drink?" Most language is verbal, not written, so the ambiguous cases in writing always supply the correct punctuation on Duolingo. I don't really see the problem.