You could say "go into the house and take me/us a beer." it´s grammatically correct because it indicates movement.
But then, in speaking (let´s say - in informal ways) fat chances that it would be said "go in the house and take a beer". Why is that? Because native speakers of English don´t always use the words correctly, as per grammar rules, it is idiomatic.
Plus "in" in this case could be the shortening for "inside", thus it would mean "go inside" the house and take a beer for us."
One way or the other, it can and it is used with "IN" in an idiomatic way (having to do with pratical usage, not grammar per se).