"Do the yellow cats go to them?"
Translation:An dtéann na cait bhuí chucu?
I think you're right that it's rarely used or at least rarely taught. I think it is important to remember that it's 'to(wards) them'. So it's use would be common with verbs of motion or direction. So the examples are good.
When learning or reading it is more common to encounter 'chuig an (place) than a person. And remember 'to them' is generally expressed using other more common prepositional pronouns (like 'do' and 'le') for common expressions translated from English. - Talk to them/Give to them etc.