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Here are some examples of the grammatical structure I am referring to:

_(verb A) to (verb B)_ = **(masu stem of verb B) (sometimes に) (verb A
conjugated normally)**

_I went to pick up_ = **取りに行った**

_I forgot to ask_ = **聞き忘れた**

_I started to eat_ = **食べ始めた**

Right now, my (possibly incorrect) understanding is that you can use this
structure with only the following verb As:

行く、来る、帰る、入る、出る、始まる、終わる(?), 忘れる(?)

Is this correct? And if so, what is the complete list?

_this is the closest question I could find (which I don't think asks nor
answers the question well):[How to use に with "masu-stem (連用形 stem) + に +
Verb" structure](https://japanese.stackexchange.com/questions/6648/how-to-
use-%e3%81%ab-with-masu-stem-%e9%80%a3%e7%94%a8%e5%bd%a2-stem-%e3%81%ab-verb-
structure)_
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grammar compound-verbs
When can you use (masu stem) + (another verb)
I think you are actually talking about three different patterns. In
particular, whether there is に between the two verbs is very important.

### 1. `masu-stem + に + movement-verb`

取り **に** 行く, 遊び **に** 来る, 寝 **に** 戻る, and so on. The first verb can be almost
anything. The second verb is a "movement verb" (行く, 来る, 参る, 戻る, 訪れる, etc). The
first verb before に expresses the **purpose** of the movement. The に is very
important. See: [Is it true that only movement verbs can take [V-stem]に to
express a purpose?](https://japanese.stackexchange.com/q/2957/5010)

### 2. Syntactic compound verbs (`masu-stem + verb`)

やり直す, 見始める, 食べまくる, and so on. The first verb can be anything. The second verb
is one of the 30-ish verbs listed in the "Syntactic and Lexical Compound
Verbs" section of [Compound Verb Lexicon](https://vvlexicon.ninjal.ac.jp/en/).
The second verb adds some meaning (e.g, "re-", "start") to the first verb.

### 3. Lexical compound verbs (`masu-stem + verb`)

There are literally thousands of compound verbs where the combinations of two
verbs have fixed meanings. Some are straightforward enough (e.g. 飛び出す, 立ち上がる),
but many have completely unpredictable meanings (e.g., 差し支える, 見込む). The linked
lexicon is for listing this type of verbs.

* * *

The first two categories are easy, but lexical compound verbs are the
toughest, and you'll have to remember each combination one by one.
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answer