All three are correct, but only the last one seems really idiomatic to me. Obligation (as shown by expressions like "must" and "have to") is seldom conditional on any other factors (such as whether "they left yesterday"). Here are the modals that make the most sense to me in that context: If they left yesterday, they [will / may / might / could / should] arrive tomorrow.
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navitasanSo "have to" and "must" necessarily imply obligation and not likelihood in these contexts?I completely understand the question, but to be honest, because of the if-clause, neither interpretation springs to mind immediately for a native speaker. One is
... obviously not "it is obliged to arrive tomorrow"
navitasanIs this sentence correct:A-If you have received our letter, you should reply by next week.It's correct, and it is much more likely to be interpreted as obligation than expectation (logical likelihood).