Consider:
Her goal is to pioneer the idea of gardening in small or urban environments, and to inspire and educate people everywhere to grow their own organic food and live sustainably.
The comma is not warranted as and to inspire and educate... is not a main clause.
How could it be made grammatical?
For instance, is it valid to consider her goal (goals?) to consist of a list of two items:
pioneer the idea of gardening in small or urban environments
inspire and educate people everywhere to grow their own organic food and live sustainably.
It would then instead be (removing the comma and the second to):
Her goal is to pioneer the idea of gardening in small or urban environments and inspire and educate people everywhere to grow their own organic food and live sustainably.
Alternatively, considering the last part as a third item, it would be (using a serial comma):
Her goal is to pioneer the idea of gardening in small or urban environments, inspire and educate people everywhere to grow their own organic food, and live sustainably.
