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In a sentence
Nemusíš prísť dnes.
You do not have to come today.
Nemusíte platiť teraz.
You do not have to pay now.
Nemusí ostať doma.
He does not have to stay home.
Pravdu povediac, Tom to nemusel urobiť.
The truth be told, Tom didn't need to do that.
Examples from Tatoeba (CC BY 2.0 FR).
Source
Slovak National Corpus (SNK) ↗English gloss from the frequency publish path. Includes Tatoeba example sentences when present.
Full attribution on References.