Since there is no rule about word order in Esperanto, word order can not be used to clarify meaning. To do so would contrast sharply with the idea of Esperanto as Internacia Lingvo. There are languages without strict word order and others with word orders different from Indo-European languages.
So while native speakers of languages with subject-verb-object order might usually understand each other and guess the meaning from taking word order into account, it shouldn't be considered a way to clarify meaning in general.
Since there is no way to misinterpret the phrase "lerni ŝatas mi" other than in the meaning "mi ŝatas lerni" - what might be the same even if intendedly wanting to be philosophical about - sensitive plants might be irritated but there is nothing to argue against it.
However the phrase "legi asistas skribi" or "legi helpas skribi" is just not clear. As you say yourself:
a sentence with just infinitives as nouns
legi and skribi are used as (if) nouns here and need to be used like Neil Roberts suggests in his answer to form a valid sentence in Internacia Lingvo.
Legado helpas skribadon aŭ Helpas skribadon legado.