usage.obligation-tener-que
Tener que: personal obligation
Tener que + infinitive is the everyday 'have to': tengo que renovar el carnet. Past: tuve que (and did) vs tenía que (was supposed to).
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Explanation
The default obligation in speech, personal and concrete: tenés que firmar acá, tenemos que salir ya. Negated = don't have to (not mustn't): no tenés que venir si no querés.
Preterite tuve que implies it happened (tuve que esperar dos horas); imperfect tenía que leaves it open (tenía que llamar y me olvidé).
Examples
Tengo que estar en el consulado a las ocho.
I have to be at the consulate at eight.
I have to be at the consulate at eight.
Region: global
Tuvimos que cambiar de plan.
We had to change plans.
We had to change plans.
Region: global