If the procedure involves your upper digestive tract, you might experience a mild sore throat and bloating, this is normal. You may go home if you are feeling well.
If the procedure involves your lower digestive tract, you might experience some mild rectal bleeding if samples were removed; this is normal and will resolve on its own. You might feel bloated and some mild cramping which should resolve in a few hours.
It may take a few hours for the effects of the sedation to wear off, hence, you are not advised to drive yourself home. You should have an accompanying relative or friend take you home, you may also take a taxi or private-hire vehicle.