Yes, Advance Parole lets you leave and return to the U.S. legally, but you must apply and get approved before you travel.

Use Form I-131 to apply for Advance Parole because It is not a visa, but it gives you permission to re-enter.

Do not travel without it if your case is still pending like asylum, green card, etc. so don't traveling without Advance Parole may cancel your case.

Having Advance Parole does not guarantee you can re-enter border officers still decide but If you have a deportation order or certain issues, you may be denied entry.