Now look at what happens when we remove the ‘to’, introduce a conjunction and tweak the conjugation.
In (1), now we’re moving through the story with Jan. She acts and we go with her. We feel closer to her, as if we are her. In the unedited example, she discovers the empty attic and yet the light never got switched on – all we had was her intention to do it. The ‘and’ fixes that problem.
In (2), Andrew picked up a phone and made a call. We’re doing those things with him. And Carla can now answer on the third ring because Andrew made a call, rather than just picking up the phone with the intention of getting in touch with her.
In (3), readers are focused on my journey to the caravan, not the reason why I get out of the car (to walk over to the caravan). And now that I do walking rather than just car-exiting, I can get to that caravan and peek through the window.