What does poke in mean?

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“Poke in” is typically used as another way to say a person “showed up” either without notice beforehand, (showed up suddenly) or it can also mean showing up sneakily, or joining a conversation or event (usually) uninvited.

“Showing up” is another way of saying you’ve “entered” a place or situation.

Some examples:

Location:

“Yeah, she just poked in here. We didn’t even expect her to show up.” → “Yeah, she showed up uninvited. We didn’t even expect her to show up.”

Conversation:

“You don’t mind if I just poke in here, do you?” → “You don’t mind if I join in on the conversation here, do you?”

Location/Event:

“Look at that little kid poking in here while we’re talking. He’s hiding behind the wall.” → “Look at that little kid sneaking up on us while we’re talking. He’s hiding behind the wall.”