Infinitive: a special verb form that is unchanged for gender or plural, and has an abstract meaning. In English: to go, to be, to squeeze.
The infinitive a Form of the infinitive The infinitive cannot be inflected. Whether one is addressing males or females, one person or many, it is unchanged. The infinitive’s distinguishing mark is a prefixed Lamed ל ,
To eat: (kind of like The different ways you'd use "to eat, but couldn't say to Eatens, to eaten-ing, aten etc). Instead you it would depend on the tense and the words around it, eat, eating, ate, eaten, ..
(To write: written, writing, wrote, writes. To drive: drive, (was, will be )driven, (will be, has been, had been, planned on), driving, drives, drove,). Etc.
https://www.pealim.com/dict/30-leechol/ is The conjugation chart for l'ochel. I'm learning too, most of the above is from COLLOQUIAL Hebrew or modern Hebrew Grammar.