She walked (over) to him.
I'll bring the drink (over) to you.
How does the meaning of these sentences change with or without the word "over"?
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To go the distance from where you are to a person: walk over to a person
To approach a person at a place: walk up to a person
walk to a person is not really idiomatic in most contexts.
bring something to someone does not require over. That said, if you are at one end of the garden with the beer and someone else is at the other end, you will take the drink over to that person [across the garden].
If you say in English, to walk to a person, it's not describing what one generally says in everyday speech to describe interactions between people located at a particular place.
If a baby is learning to walk, you would say: "He stood up on his little legs and walked to his mother without falling over".
walked without any other preposition is contrasted with other verbs:
Walk to [x], run to [x] is generally how one gets to a place in terms of one's own locomotion.
She walked to school [she did not run, ride or crawl to school]
Whereas, if you are in or at a place, generally, you walk over to someone or you walk up to someone.