为什么不是prepare for dinner？
We'll return in time for you to prepare dinner.为什么不是prepare for dinner？
It depends on your meaning. If you remove the preposition for, the verb prepare becomes a transitive verb taking dinner as an object. In other words, dinner is something you prepare. If you keep the preposition for, then the verb prepare is intransitive and you only prepare yourself to have dinner.
whitebearbother说得对。二者的区别就在这。prepare dinner就是“做饭”，prepare for dinner指为晚饭做准备工作。
"prepare dinner" means "doing some cooking", while "prepare for dinner", "making some other things ready for dinner".
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