You can protest in the US.

You cannot block other people's access like standing in a street or highway. This is infringing upon other people's rights to freely move around.

You cannot riot--loot buildings, set fires, damage vehicles.

You cannot make excessive noise in violation of local noise ordinances.

If police feel that public safety is compromised they may term a protest an illegal assembly. I'm not a fan of this, BUT if the protestors are actively trying to hide, or prevent access to people committing crimes as part of the protest, I have no problem with the police arresting such people for abetting the crime.

In short, protesting does not give you the right to violate the law. Many protestors will knowingly and willingly violate laws in order to protest. If you do so, you should not be upset or surprised when you are arrested.

You should be more concerned with what happens to protesters in more autocratic countries. How many of the protesters were killed by the Iranian government recently? How many Chinese citizens have disappeared protesting the insane COVID lockdowns the last couple days?