"Did you get to see the royal couple?"
Is this grammatically correct?
Or what is the correct use of this sentence.
Yes, it's correct. "get to see" is similar to "have the opportunity to see" and implies that you wanted to see them.
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Yes, it's correct.
"get to see" is similar to "have the opportunity to see" and implies that you wanted to see them.
Yes, in everyday language that is fine.
This use of "get" is not suitable for formal writing, but your sentence is likely to be a conversational rather than formal one.
(Cross-posted.)