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can, could - used to express ability, potential, possibility, and permission;
may, might - used to express possibility and permission;
must, have to - used to express obligation and necessity;
ought to - used to express advice and recommendation;
shall, should - used to express advice and recommendation; with 'shall' also volition (to choose; to make decision);
will, would - used to express belief and conjecture.
Semi - modals:
need - used to express necessity;
dare - used to express the idea of being brave enough to do something or not being afraid to say something;
used to - used to express habits or states that existed in the past and no longer exist.
'need' and 'dare' may behave like modals verbs (they can form the third person singular present tense without -s; they lack do/did in questions and negatives and are followed by an infinitive without to) or can also be used like ordinary verbs (with -s in the third person singular present tense, do/did in questions and negatives and an infinitive with to).
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