"Tá uainn éisteacht leis an gcailín."
Translation:We want to listen to the girl.
Would “listen with the girl” also be an acceptable translation for éisteacht leis an gcailín?
Do you mean "to listen alongside", as in "I listen to the music with my girlfriend", meaning that we are both listening to it together?
Otherwise I'm not sure exactly what "to listen with" means in English.