Tu veux que j’y aille déguisé en homme des cavernes : adverbial phrase
(you want me to go dressed as a caveman)
Tu veux que j’y aille ‘comment’ ? = you want me to go there ‘how’ ?
I hope this is helpful.
You query why déguisé is not in the infinite. As I see it you are not expressing the near future -- aller plus infinitive, you are expressing "going there dressed" therefore "y aille déguisé" where déguisé is the past participle of the verb déguiser.
Hope this helps.
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