Would you differentiate between plain finitive verbs and to infinitive verbs in English grammar ?

Finite verb forms are marked by inflection and indicate person, number and tense. A finite verb can be the single main verb in a sentence.

For example, the finite forms of the verb go are:

• • go (present tense in all persons except the third person singular)

I go to school in the afternoon.

• • goes (present tense in the third person singular)

Mia goes to school by bus every day.

• • went (past tense)

Yesterday, we went to school at9 am. Non-finite verb forms

Non-finite verb forms do not indicate person, number or tense.

The non-finite forms of the verb go are:

• • go (infinitive)

I can't go with you.Unfortunately, she had to go.Do you really go out with her?I didn't go to work today.I want to go home. 

• • going (gerund)

I like going to the cinema.Carol suggested going for a walk.Going faster would have been really dangerous.

• • gone (past participle)

Jack has gone away on holiday.By the time Sue returned, the others had gone back to their cars.I wish I had gone to university.

• • going (present participle)

I'm going to a concert tonight.I heard my dad going up the stairs.Going across the bridge last night, I saw someone swimming in the river.