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A - "to" is missing for the first two actions B - "to" is missing for the third action C - "then corral them" - then is not necessary E - "to" is missing for the last action
Though I am not happy with the not using "to" at all in D, other places wherever "to" is used, is used wrongly. So I would assume it is okay not to use "to" at all.
"To" may be left out in similar cases only in informal speech, otherwise it's mandatory. Therefore, A, C, and D are immediately out. E is wrong because leaving the cattle alone, corralling them, driving them to market are three distinct actions, not "the only thing." Besides, active voice is always preferable to passive voice. B is concise and grammatically correct.
P.S. "To" is not missing for the third action; it's right there, in the part that's constant.