I know that I can say: I go get us some sodas. No, you can't. I will (I'll) go get us some sodas. I am going to get us some sodas.
But can I say: I go TO get us some sodas? Or is not correct? You need to fix the verb - I'll go. Using "to" is okay, but the "to" fits more for a destination. I'll go to the store to get us some so