~よう indeed is 助動詞 in 国文法 / 学校文法. 助動詞 belongs to 活用語, therefore 活用語の終止形 contains 助動詞の終止形.
The meaning doesn't change from the original.
名詞、活用語の終止形、動詞の~形、一部の助動詞の命令形 can express what you want to say. 名詞、動詞、活用語の終止形、一部の助動詞の命令形 works as well, but since 動詞 usually expresses the entire conjugation forms of verbs, I don't think there actually exists such kind of expressions/structures.