Solution:
- I want to drive a Formula 1 car one day. — A verb + to infinitive
- We might go for a swim later. — D modal verb + infinitive without to
- The coach makes us run 3 kilometres before the training starts. — B verb + object + to infinitive
- Please remind me to put a clean towel in my gym bag. — E verb + object + infinitive without to
- Karen fancies watching basketball on TV at home. — C verb + -ing
- We arranged to meet at the top of the ski lift at 4 o'clock. — A verb + to infinitive
Answer: 1-A, 2-D, 3-B, 4-E, 5-C, 6-A.