" For example: Robert pretended to be sad in order to gain sympathy from Ratignolle. Robert pretended to be sad to gain sympathy from Ratignolle. No, perhaps just a slightly reduced emphasis.
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As an editor, I routinely edit "...in order to..." to "...to..." without affecting the sentence meaning. I consider this an ingrained phrase by writers that goes against the philosophy of eliminating fillers and unnecessary words/phrases. Let's write concisely.