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Is there any difference in between those below?

He's waiting for us to come to look for him.

He's waiting for us to come looking for him.

If not, is there any in another contexts other than "He's waiting..."?

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Either way is fine, although it's important to note that I would say come look for rather than come to look for. Come to look for just sounds unnatural.

He's waiting for us to come look for him.

He's waiting for us to come looking for him.

I don't have any grammar rule or research to back that up, though, I'm too tired at the moment.

I also can't think of any specific circumstance where one would be grammatically correct and the other not, although you shouldn't quote me on that.

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