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Use(d) to

 Can / Could / Dare / Have to / May / Might / Must / Need (to) / Ought to / Shall / Should / Use(d) to / Will / Would

 Modal Verbs Home

Review Modal verbs by function here

Habitual actions in the past

Used to or Would

Function

Used to is known as a semi modal, the concept of semi modals is explained in more detail here. 

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