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Konnichiwa~! I was just wondering, how do you form a sentence in Japanese with multiple verbs, if the verbs go at the end of the sentence?

Haha, no. Verbs go at the end of the verb phrase, which is only one constituent of a sentence. In English, for example, I go to the beach.

[ [I ] [go [to [the beach] ] ] ]

The sentence consists of two parts, a Noun Phrase followed by a Verb Phrase. This VP consists of a verb followed by a Prepositional Phrase. The PP consists of a preposition followed by a NP, which in this case isn't just one noun, but a determiner followed by a noun.

But in Japanese, 私は海に行きます.

[ [私は] [ [ [海] に] 行きます] ]

Broken down similarly, but as you can see, the nesting structure of the VP is reversed. The sentence itself, however, still consists of a NP followed by a VP.

Honestly I don't know where the particle は is supposed to fall into the phrase structure, but for simplicity's sake I put it in the NP with 私. But beyond delving into the convolutions and contradictions of phrase structure grammar, the point of all this is: when you add extra verbs to a sentence, you are chaining together additional verb phrases.

I go to the beach and eat lunch.

私は海に行って昼ご飯を食べます, I beach go and lunch eat.

I didn't think you could use the verb stem like that, except with であり ... neutral

If you chain the verbs with て-form, it usually implies that they happen in that sequence, and sometimes that a prior verb permits or causes a later verb.

You can also use the たり…する form, which creates an incomplete list, as in 食べたり寝たりした, "I ate and slept, among other things." It's the verb equivalent of the particle や.

AてからB is an explicit "B after A" form, and AながらB is the form for "B while/during A".