It's actually "I've got to go" --> "I have got to go" expressing an obligation to go. "I get to go" implies that you've been given permission or the right to go.
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CalifJimI have got a pen. = I have a pen.Are version with "have got" and "has got" used a lot in everyday speech and writing?
whatchadoinAre version with "have got" and "has got" used a lot in everyday speech and writing?Not as such. The contracted forms are used a lot, though. I've got, he's got, etc.
CalifJim I've got, he's gotDo people use them even in writing? Will I sound uneducated if I use them?
whatchadoinDo people use them even in writing?Yes, in informal writing — a letter or email to a friend, written dialog between friends and family in a novel, that sort of thing — but not in serious news articles or scientific papers.
whatchadoinWill I sound uneducated if I use them?No. Not at all. Certainly not in ordinar