"Ele vai até o carro vê os pneus vazios."
yes, I agree. I think the sentence should be "Ele vai até o carro e vê os pneus vazios." but, like you also wrote, you could say ""Ele vai até o carro ver os pneus vazios." Although similar in form, the sentences have different meanings. In the first, he saw the flat tires after going to the car. In the second, he went to the car with the purpose of seeing the flat tires.