"Most of us want to go."
Translation:우리 대부분 가고 싶어요.
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From what i have gathered you use 들 to make it clear that you are taking about multiple ppl and not just yourself. For example 우리 어머니는 could mean my mother or our mother. If you write 우리들 then it can only mean our mother.
Here we are talking about "most of us" which is obviously about multiple ppl, so you just drop the 들.
At least that's how i understood it, i m not native.