English does not have true infinitive forms of verbs. For the number/tense neutral form of a verb we usually use the first-person, present-tense form of the verb plus the word to. Native speakers of English recognize to read as the infinitive form of a verb, a form which cannot itself function as a verb in a sentence. Let's look at a regular English verb talk.
I talk to my wife. (first person singular present)
You talk to my wife. (second person singular present)
My wife talks to me. (third person singular present)
The plurals are:
The past tenses are:
I, We, You, He, She, It, They talked
In English, the infinitive names the action or state of being while functioning as a noun.
One can say: I want to talk (infinitive) or I want ice cream (noun).