It goes a bit further, and allows to contradict any negative sentence (some example stretch a bit, more context would typically be given):
C'est impossible. - Si!
Je ne peux pas - Si! (I can't - yes, you can!)
English used to have a system with four words for that purpose [1].
An interesting fact is that some early Gallo-Romance languages were named after the "yes" word in that language: langue d'{oc, oïl}. One can recognise oïl as a precursor for oui [2,3]
Perhaps I misread though, I thought you were saying the verb 'want' is used in all cases, I was just saying my understanding is that it would be used when that was the verb in the question, but for 'do you go' similarly 'go' is used in the answer.