"Chcę tańczyć z wami!"
Translation:I want to dance with you!
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As far as I see, Perfective is introduced in the same row as Pronouns 2, from which this sentence comes. So it was impossible to use here. This focuses on the 'process' of dancing and not dancing a particular dance, seems perfectly acceptable, although probably worse, true.
Anyway, added "zatańczyć".
Well, according to https://www.clozemaster.com/blog/polish-prepositions/ , "z" in this usage (with) takes instrumental (albeit genitive in other usages).
When it's a direct object, yes. But here it's a prepositional compound.
Plus, in this context it is very likely that 'with you' is the so-salled comment (the new/important information), so it makes sense that it ends up in a sentence-final position.
'Chcę z wami tańczyć' answers the question 'What do you want to do with us?', whereas 'Chcę tańczyć z wami' answers the question 'Who do you want to dance with?'.