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I think I'm guilty of making something simple more complex than it needs to be. But...since voy means 'to go', and seems to be a synonym for 'ir' (to go), could I substitute 'voy' for 'ir' in the sentence, and say, 'Quiero voy a la escuela' instead of 'Quiero ir a la escuela'?
(I'm trying to avoid saying 'ir' because it's hard for me to say.)
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