Wendy Williams will remain locked up indefinitely, but she got good news Friday … a judge will allow her to fly to Miami for her father’s 94th birthday.

Sources with direct knowledge tell TMZ … the judge has authorized private security to accompany Wendy from NYC to Miami, where her dad will be celebrating with friends and family. Wendy will be there for 2 days and then fly back to NY … where she is confined in a studio apartment at an assisted living facility.

TMZ has interviewed Wendy for a new Tubi documentary — “Saving Wendy” — and in it, we raise serious questions about why she is still in a guardianship that gives her virtually no freedom. She calls her apartment a “luxury prison,” where she rarely gets to breathe fresh air, has no internet access, and virtually no visitors … no one can even call her.