'Had to' is not the past tense of 'must'; 'must' has no past tense. In some contexts, if we wish to express the idea of an obligation imposed in the past, we can use 'had to' 'Should' has several shades of meaning. In the sense of weak obligation, as in "I should go now", one way of expressing this as a past form is 'was supposed to".
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The best way is to use Should + have + V3 or Ved.
For example: I should have studied.
This is a great video about it:
https://www.engvid.com/grammar-past-tense-should/