Only the two set phrases I listed above use a que in between, as far as I know.
Tengo que llevar I have to wear
Hay que llevar One must wear
Necesito llevar (no que) I need to wear
The use of a preposition, whether it is 'a', 'en', 'con', 'de', or 'por', when an infinitive follows, largely depends on the verb used before the preposition.
The verb ir isn't always followed by the preposition 'a'. When you're talking about a future event, as you did with your two examples, it is.
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