Hi Bluejay: Here is the dictionary definition of have to / have got to: Be obliged to, must. For example, We have to go now , or He has got to finish the paper today. The use of have as an auxiliary verb to indicate obligation goes back to the 16th century; the variant using got dates from the mid-1800s.
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BluejayI Googled "had to" as a phrasal verb and could not locate it as being one.That's not surprising. "have to" is not a phrasal verb. "have to" is an idiom indicating obligations or requirements.
BluejayI was thinking of the following examples before your post:In my opinion these have exactly the same structure.
He had to eat spinach. (spinach DO)
He wants to eat spinach. (to eat spinach DO)