For this meaning of have, do is needed: I don't have to do my homework. I didn't have to do my homework. Do you have to do your homework?
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everlastinghope You weren't allowed to clean the house = you were obliged not to do the cleaning(can we say,you didn't have to clean the house ?)The meaning is completely different, as discussed above.
Avangi
"mustn't" doesn't have a past, nor does "must."
everlastinghopeSo,is it correct to say " I didn't have to"instead of "wasn't allowed" ?No. These two mean completely different things.