8/10/25:
Star Trek shows have been pretty back and forth about going to warp near planets/solar systems. Sometimes they can't, sometimes they can. Realistically speaking... a warp drive should be able to engage anywhere. But given that it's space-time (specifically gravity) that is being warped, any given warp factor should be less effective near a planet or other large object, as the warp field would be disrupted by the mass of that body.

Or, to put it more plainly... you can go to warp near a planet or star, but you won't go as fast as you would when you go to warp farther away from large objects.

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Comments from the Tagboard:

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None for this update!

Transcript
Panel 1:
Doctor Rona: Bob... You can't! I don't care what kind of authority she claims, that doesn't justify--
Ms. Lorraine Hulyard: Stay out of this, first officer! It's not his decision to make!
Captain Bob Jenkins: Potemkin, this is the captain. A shuttle launched from the surface. Are you tracking it?

Panel 2:
Commander Korok: Yessir. She is moving at full impulse with shields at low power. Sensors indicate her warp engines are powering up.
Helmsman Wyatt: Sire, the shuttle will clear Spoogie's gravity well in 90 seconds.
Jenkins (comms): Can you disable her warp engine without destroying the ship?
Helmsman Wyatt: Unlikely, sir. Her shields are on minmal power. Just enough to prevent a beam out.
    Even at a minimal setting, any shot we take will almost certainly detonate her warp core.

Panel 3:
Hulyard: Are you really going to risk your life and career over this, Captain?
    That ship includes an enemy commander, an untrustworthy Gorn expatriate, and two criminals.
    We may all regret the loss of Colonel Reynolds, but he is a military man. He would understand this is the right decision.
Jenkins: The right decision? Killing five people in cold blood?
Hulyard: I don't need to explain myself to you.

Panel 4:
Jenkins: Potemkin: Stand down weapons. Let the shuttle go.
Korok (comms): Acknowledges, sir. She is going to warp.
Jenkins: I agree we need to investigate some of the goings-on here, Ms. Hulyard, but I won't be responsible for starting a war over it.
    Not without a LOT more information.

Panel 5:
Hulyard: Instead you've chosen far worse consequences, "Captain."
    Mr. Shrunt... submit for the record that Mr. Jenkins forced my hand. We are now enacting emergency protocol 16.7.
Jenkins: 16.7? I thought that was still in committee.
Hulyard: The President signed in yesterday. Keep up with current events.
    Both Intrepid and Potemkin are now under civilian administration. As such, I am the acting Commodore for both vessels.
    Crewmen shall be expected to continue their standard duties under my command. Failure to abide by those orders will result in court martials for mutiny.
    Comms officer: relay this information to all crew.