expression, godan verb (iku/yuku class)
go out to have fun; go on an outing; go visit (a friend)
Covers going somewhere for leisure, play, or a casual visit. The purpose is enjoyment or socializing, not business.
See also: 遊びに来る
週末は友達と公園に遊びに行く。
On weekends I go to the park to hang out with friends.
I plan to go visit my grandmother tomorrow.