The infinitive complements the verb to complete the action.3 We translate the infinitive as an English infinitive, “to abandon,” answering the question “Do not urge me to do what?”: “Do not urge me to abandon you.” לָשׁ֣וּב is a second Qal infinitive construct, this time from שׁוב + ל preposition. Some English translations supply a conjunction and this infinitive becomes the second complement to the main clause אַל־תִּפְגְּעִי־בִ֔י: “Do not urge me to abandon you or to return from after you.”4 However,
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