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I think the question was about the usage of motion + non-motion verbs. So, I think it was more about:

Вася вчера ходил сдавать экзамен.

vs.

[s:przr0s49]Вася вчера ходил сдать...

I think it's the level of determination of the subject that makes the difference. However, I think in a daily speech those forms are easily interchangeable.

пойти сдавать книги = to go in order...