When intention is the intention!
There are times when the infinitive form of a verb is a good choice because intention, purpose or desire is exactly what the author wants to convey, not the action itself.
Here’s an excerpt from Nuala Ellwood’s Day of the Accident (Penguin, 2019, p. 94). The viewpoint character intends to talk but the action never happens. We’re supposed to focus on the intention, so the infinitives – to speak, to defend myself – work.
Her eyes flash with hatred. I go to speak, to defend myself, but no words will come. Instead I let Sonia guide me away, Barbara’s venom ringing in my ears.
Here are some additional (made-up) examples of where motivation is the order of the day. The character does X for the purpose of achieving Y, and the infinitive is effective.
If you want your characters to act, show those actions in your prose rather than telling readers about intention. Replace the infinitives with a conjunction and modify how the verb’s conjugated. Or, for a more staccato feel, try commas, or closing the sentence with a full point and starting a new one.
If it’s motivation you want, a ‘to’ plus a verb has the right to stand.