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Yes, there is no infinitive in Irish, but I suppose it has to do with definitions and how narrowly you interpret them. Every language has developed its own way of expressing the same thing.
Verbal nouns do occur in many different languages, from Arabic to Japanese. Of course their precise structure and usage are not the same in the disparate languages, but they do have enough in common to be put in the same classification.
The danger is always getting too tangled up in the nomenclature rather than the actual usage…infinitive, verbal noun, gerund,…how many people think about which to use in a sentence, and once they've used them, do they think "Ah no! I used a gerund in place of a present participle just then. I certainly hope no-one noticed.
but there are specific ways to define what is a verbal noun and what is an infinitive.
For example, the object of a verbal noun is in the genitive ; the object of an infinitive normally is in the accusative (when it exists).
Verbal nouns can be declined, you can put an article before, etc. Infinitives don't change like that, they are more verbs than nouns.