"Once I see her, I want to go."
Translation:Zodra ik haar zie, wil ik gaan.
Yes, because it's to go. Dutch often has the similar constructions of english, in that you use two verbs with one subject, and the first verb modifies the second.
The first verb would be the conjugated form for the subject, and then the second (third, fourth, etc), would be (more often in Dutch, but still not always) in naked infinitive form. I.e. without 'te'
Ik wil eten. I want to eat.
However, counterexample which includes the 'te' modifier, Ik heb geen idee wat te doen. I have no idea what to do.
This appears to have inversion in the first clause. I am still learning to use inversion with some subordinate clauses, but it is not at all clear to me why this sentence doesn't start with "Zodra ik zie haar." (I am a native English speaker, this whole word order thing in Dutch is new to me.)