Are there any differences in meaning between the two sentences?
- We hadn't left the place yet; we will be there in 10 minutes.
- We haven't left the place yet; we will be there in 10 minutes.
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Both sentences are grammatically correct. The difference is that hadn't is is in the past tense while haven't is in the present tense.
EDIT (due to your edit)
In context, haven't is the grammatically correct sentence. Hadn't would not make sense as the order of events ought to be preserved.
Nevertheless, hadn't would make sense if something happened between the two events and the point at which they had yet to leave were mentioned by the other individual(s) in the conversation.
As we were leaving the restaurant the waiter called out, "Sir, you haven't paid your bill yet". Just then it occurred to me I hadn't been to the bank. HAVEN'T present tense, HADN'T past tense.