She didn't ________ to wait long for the bus, only a few minutes.
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She didn't _has_to wait long for the bus, only a few minutes.
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She didn’t have to wait long for the bus, only a few minutes.
It is not a simple auxiliary verb but it is genuinely a modal auxiliary verb. It is often grouped with auxiliary verbs for convenience, but in fact it is not a modal verb. In the have to structure, have is considered to be a modal verb. So it is a case of auxiliary sentence.
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