I don't know IPA very well, but if (r) means a barely-voiced "r" sound ("r" as in "rain" / "rope" / "red"), then I would say no, "to" is never, as far as I'm aware, pronounced with the sound (r). Your first transcription, "ɡəʊ (d)ə hel," looks right to me.
For "come into my house," I wouldn't say that the "t" is silent. It seems like more of a very soft "d" sound to me. I presume this would render something like "ɪn(d)ə" in IPA.
Your third sentence looks good to me. I think you might get very different answers for all of these examples from people in different English-speaking regions, though. (I can't personally think of any dialect of English where "to" ever has any kind of "r" sound in it, though.)