Is there any difference between "come in" and "come on in"?
There really is no difference between the two apart from nuance. "Come in" has a more formal tone. It sounds more like an instruction or a command, rather than an invitation. When someone or a situation is more relaxed and friendly, we may adopt a more inviting and encouraging tone. "Come on in" conveys that sense of encouragement and invitation better than "come in". As the Bears are friends with Charlie "come on in" helps to convey that feeling. Ex: Oh, you're here! Come in. Ex: Oh, you're here! Come on in.
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