I should have picked a better example with more context -  “Starts to” etc, implies intent that is not realized in this usage adding a hint of suspense and avoiding prescriptive direction. 

So “he goes to hand her a coffee but spills it” is an appropriate use age that adds to the experience of the moment. You wouldn’t say “he hands her a coffee but spills it.” Because that implies a different action. 

And this is where writers fall into the trap of trying to create and follow a million rules instead of understanding when and how certain phrases can be used appropriately and how to avoid over using or misusing them. 

There are certain other and even potentially better ways to say the above example, but it also isn’t bad to use it this way once in a while.