V來/去 only tags toward or away; 過 inserted between adds the crossing of a stretch of ground. 走來 is approach; 走過來 is crossing the room to reach you.
到…去/來+VP
到台北去 names a destination then states a separate purpose verb; V過來/過去 has 過來/過去 tail the verb itself to show its path. One routes a trip to a place, the other traces how the motion crosses.
向我 orients the action at a target without saying it arrives; 跑過來 actually completes the crossing and lands. 向 aims, 過來 arrives.
他跑過我。 → 他跑過來。 (來/去 must close the crossing and fix its direction; 過 alone leaves it hanging)
他走過去我這邊。 → 他走過來。 (toward the speaker takes 來, not 去; 去 sends it away)
他過來跑。 → 他跑過來。 (過來 tails the verb as its path, it does not lead in front of it)
English folds path and direction into one word — "run over," "walk across" — with no toward/away switch. Chinese splits it: 過 for the crossing, then 來/去 keyed to where the speaker stands.