SB (previous):
"Will" has never required "to" with a complementary verb in any
sense; cf John 1:6 (KJV) "Wilt thou be made whole?"
I must amend this to acknowledge the idiom "will to [X]", which has the
sense "exert one's will towards" the goal specified by the verb [X].
Without an OED in front of me I can't offer a date or etymology; I
suspect the idiom is comparatively late and derives from the noun.