There was a song, very popular many years ago, which said in part, 'Come fly with me'.
The way the sentence is structured, I would be happy slipping an 'and' in but not a 'to'.
'Will you come to the park and play with me.' is ok. 'Will you come to the park to play with me.' is ok but stilted and not something a speaker with English as his first language would use. 'H