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I've heard a sentence like this: "I had to go to the doctor" for an obligation in the past. I would have expected: "I hadn't to go to the doctor" for the negative form, but I heard: "I haven't had to go to the doctor" why? Best

minollo
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    "I haven't had to ..." is the negative form of "I have had to ..." The negative of "I had to ..." is "I didn't have to." – Robusto Oct 29 '19 at 12:57

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I had to go to the doctor yesterday/ today.(past obligation)

I think the opposite of the sentence is:

I did not have to go to the doctor

I haven't had to go to the doctor is the opposite of I have had to go to the doctor which can not be used to talk about past abverbials like yesterday.

I think you may say I have n' t had to go to the doctor today or I didn't have to go to the doctor today..

But in the sentence given the time adverbial is not specific