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In a sentence
Nemuseli sme čakať.
We didn't have to wait.
Prečo musíme čakať?
Why do we have to wait?
Nebudeme musieť dlho čakať.
We won't have to wait long.
Nemôžeme čakať.
We can't wait.
Examples from Tatoeba (CC BY 2.0 FR).
Source
Slovak National Corpus (SNK) ↗English gloss from the frequency publish path. Example sentences from Tatoeba (CC BY 2.0 FR).
Full attribution on References.