Indeed. My Auntie Dorothy took me to the De Montfort Hall to hear the Obenkirchen Children's Choir singing it in, I guess, 1953 or 1954.
In fact, I was thinking about that when I wrote my original post. 'I love to go a-wandering (when I get the chance to do so) .....'

I think my argument would be that it is usually idiomatic to substitute the gerund for the infinitive' ('I love going wandering' would be OK, if it scanned), but not the other way round ('I love to dance' instead of 'I love dancing.')