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Explanation: It's correct to say, "Tuve que irme" but this also depends on the situation (what we linguists call context).
In Spanisn, "tuve que irme" is used for a specific, one-off occurence, e.g. "I had to go because it was late". But if we are talking about an occurence that re-occurs or is habitual we can use, "tenía que irme", e.g. I always had to go the bathroom when I heard that guy singing." In this case, the singer always sang so badly that you had no choice but to go to save your eardrums.
The choice is yours. I hope this helps!
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