1-- No, they are not main verbs; they are just severely limited nonfinite verbs. Quirk et al shows them as occasional subjects, noun complements, etc: Turn off the tap is all that did. (subject) The best thing to do is write her a letter.
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English 1b3Am I right to say that the bare infinitives are main verbs but still non-finite?If I understand the question properly, yes, that's one way to look at it.
English 1b3But if have to is a semi modal, what is 'go'? Is it just part of the verb phrase also (a bare infinitive)?I'm nowhere near an expert at labeling these things, so I'm the wrong person to ask. I would say "will have to go" is, taken together as a special case, a verb phrase. Sometimes the traditional grammar labels stop being useful when you get in