The word verbal (noun) does not appear in
The Cambridge Grammar of the English Language (2002)
A Comprehensive Grammar of the English Language (1985)
The English Verb (1974)
The Oxford Companion to the English Language (1992)
Oxford Modern English Grammar (2011)
As these , particularly the Quirk and H& P are respected and considered authoritative throughout the English-speaking world, I think we can assume that the idea of 'verbals' is not considered all that useful.
It also does not appear in any of the coursebooks or student grammars I have used in my long TEFL career
142 million Google pages disagree. I will go with them over Quirk -- one guy with an opinion.
NO. we say that a complete sentence requires a finite verb and a subject (or at least an implied subject).
To claim that a form that can show tense and aspect [(to) read, (to) have read, (to) be reading, (to) have been reading)], take a direct object [I want to read that book], and have an implied subject [I want him to read that book] is not some form of verb seems a little perverse to me. I have on my bookshelf nearly every grammar of English published since 1586, and many books on the English verb. All of them examine infinitives in the chapter(s) on the verb.
"We" do not say that. You say that.