If there was a contest to create a short sentence that illustrates English's idiosyncrasies, this would be a serious contender. :)
So there's a lot going on here.
A) Infinitives and verbs used with modals don't use the concept of tense. They are not "past, present, or future" (and English doesn't really have a "future tense* because future is expressed with a modal).
Infinitives usually (not always) are in the form to X where X will be the same form of the verb you use in commands/imperatives.
Modals will look like can X, could X, may X, might X, will X, would X, should X, shall X, must X, ought to X where X will be the same form of the verb you use in commands/imperatives.
Both of the above, adverbs or can come between the the word and X.
B) Be X, where X is the past-participle form of a verb, is used to express passive voice. The tense of a verb in passive voice is controlled by be, not by X. Infinitive passive voice is possible and that's to be X, which has no tense because it's infinitive.
C) Have to X is equivalent to must X - X in this case is an infinitive and again, no tense. (Getting really fun: have to X can be infinitive and passive too: e.g. to have to X, and to have to be X)
The only verb in that entire sentence that has a tense is have. Everything else is attached to infinitives or modals.
Now let's talk about omitting the words.
You can't do; you have to wait for it to be.
Again, to be X doesn't have a tense, nothing you do can affect what's not there.
The poetic effect of omitting the words here is to put emphasis on do and be as opposites - you cannot take action to get a result you want, you must wait for the result to exist.