Traditionally. ' must ' refers to an inner compulsion ( I must get a haircut soon ) while ' have to ' refers to a command from outside oneself ( We have to wear a uniform at school ), but in practice, 'have to' is taking over the function of 'must' and the distinction is becoming muddy – informally, at least. Also, there is no past tense of 'must', so you must use 'have to'.
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