Yes, you can drive immediately after your tire has been patched. However, if the patching was a DIY job, you should check whether the tire is inflated to the proper tire pressure. Driving on underinflated or overinflated tires is dangerous, and it can also shorten their lifespan.
Moreover, I would suggest driving slowly and without aggressive maneuvers for the first few miles after the patching. This gives you a chance to "feel out" the repair and ensure everything is holding up as expected. Also, keep an eye on the patch for the first few days after it is applied to ensure that no air is escaping and no other issues emerge.