Yes it is true. According to my grammar dictionary, [Verb in 連用形 + に] can only be used with motion verbs such as 行く
, 来る
, 帰る
, 入る
, 出る
to mean "to go/come/motion-verb (in order to) do something". The "In order to" becomes explicit when の為に is used, indicating a rather important purpose.
Let me try to break down the composition:
*any verb or い-adjective can become a noun when placed in 連用形. This is similar to the English concept of "gerund". E.g. talk
is a verb. talking
is also a verb. But in the sentence "Is my talking
distracting you?" talking
here is a noun.
に
as a particle indicates a point of space/time/reasoning.
(Compared to から
which is a half-line with a start point; from a point in space/time/reasoning)
(Compared to まで
, which is the other half-line with an end point; terminating at a point in space/time/reasoning)
And let's also take a motion verb:
Then let's try to piece it back together:
** because 行く goes towards whatever is marked by に
Now let's try for your example:
遊びに食べる (To eat, at the point of reasoning of "a playing"). It cannot be naturally parsed because に does not relate the thing it marks with the verb 食べる. Unlike に+motion verb, whatever に marks is directly related to the motion verb.
The act of eating has nothing inherent to do with the playing. On the other hand, moving has an inherent connection to the destination. See sawa's explanation of に in "に and で revisited"