From Wiktionary: https://en.wiktionary.org/wiki/endesha
Here is also a synonym of dereva (driver):
From Wiktionary: https://en.wiktionary.org/wiki/mwendeshaji
Can I just strip away "ni" and "na" then add "ku" to "endesha" to get the infinitive?
Yes that's correct.
kuendesha literally means "to cause to go"
would love to hear sound. for this word.