left to go/left for

MacLean made a point of arriving for breakfast after all the other guests had left to go sightseeing?

Here, shall we use 'left for' instead of 'left to go'? If not, would you please explain the reason?

Thanks Terri. Would you please explain why 'left for' cannot be used?

"left for" + a place.  ("sightseeing" isn't a place.)
"left to go" + activity expressed with an -ing word
"left to" + action that explains why the leaving occurred

left for New York, left for Italy, left for London, left for greener pastures
left to go swimming, left to go fishing, left to go jogging, left to go shopping
left to pick up the mail, left to go to work, left to get some fresh air

CJ