How to avoid multiple "to" in sentence?

Not for your sentence.

English follows a "head-body" pattern very often.

There's lots of situations where, if elements share the same "head", it only has to be specified once. Articles and prepositions are common "heads".

I took the black socks and blue socks from the shelf = I took the black socks and the blue socks from the shelf.

I wanted to see and talk to her = I wanted to see and to talk to her.

I went to the store and the park = I went to the store and to the park.

However. "to" as a spatial preposition in the targeting/destination/intent sense, and "to" as an infinitive marker, are completely different "heads" and can't be combined like that.

You can do this, though:

After eight years I again went to join my first Job at Chennai.