Modals of obligation, prohibition and advice (present/past)

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What do we use to express obligation or necessity now and in the future? (3)

have to/must/need to

Which of them do we use to say that something happaned but it was not necessary...DIDN'T NEED TO or NEEDN'T HAVE+ V3..

needn't have+V3

Criticise a past action or say that it was a mistake we use...

should/shoudn't/have+V3 or ought to have+ V3

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