"I will not go tomorrow."
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The final "a" changes to "i" only in the negation of the present tense. It remains "a" in the negation of all other tenses.
They are alternative forms and I have never seen a grammar book that suggests one is preferred over the other, although I suppose it is possible that some native speakers might consider one more correct that the other. I will note that I don't think I have ever heard anyone say "sikwendi" -- it is always "siendi" -- maybe just easier to say. But IMO, "ninakwenda" is as likely to be heard as "ninaenda", and the same holds true for other tenses of the verb -enda.