Is it permissible to suddenly visit one's parents without prior notification, especially if that causes them embarrassment or inconvenience?

Informing the household in advance about a visit is preferable, but it is not obligatory. It is permissible to visit relatives without prior notice. The most important thing is that the visitor does not enter without permission, as Allah Almighty says: "O you who have believed, do not enter houses other than your own houses until you ascertain intimacy and greet their people. That is better for you that you may be reminded."

Permission must be sought even if the visitor is a child who does not live with their parents. If the door is closed, one should not enter except with permission. If the household is not ready, they can apologize and not grant permission to enter, and the visitor must depart, as Allah Almighty says: "And if it is said to you, 'Go back,' then go back; it is purer for you. And Allah is Knowing of what you do."