Translation:One cannot get used to her
The basic verb "kuzoea" carries the meaning of "be used to", or "become accustomed to". Therefore I think both translations to be acceptable. I am not a linguist, but there's a difference in meaning between the stative verb (a resultant state, the one being used) and the infinitive (the one you suggest).
[Edited to reflect correction of translation - 17 Feb 2020].
As another example of this type of usage, I have had someone say to me: "Ndani hakukaliki, nje hakuendeki." The meaning is roughly, "Can't stay inside, can't go outside" and I think a possible extended meaning could be something like "There's no way to handle the situation."
[It seems that the object has been added to the translation, so my original question is a bit moot.]
My English mind wants an (in)direct object: he cannot become used to it. Is that understood in the Swahili, or would it be correct to expect an internal marker for the object?