"Let's meet at the park soon."
Translation:곧 공원에서 만나요.
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에 and 에서 respectively do not mean in and at. 에 is used when you are going to or existing at/in the place. 에서 is used when you are doing an action in/at the place, like meeting, eating, writing, studying, etc. Living, lying down, standing, sitting, etc. belong to the 에 case whereas sleeping, standing up, sitting down, coming from, etc. belong to the 에서 case.
I'm pretty sure because when you add in 우리 the trnaslation becomes. "We soon meet at the park" leaving it out implies you're telling the person to soon meet at the park. Like if you're friend asks you to hang out at the park you usually say "okay see you soon". Which implies that you're going. Adding in 우리 would be the English equivalent of saying "We shall soon meet at the park"