Some of the common semi-modals in English are:

"Ought to" is a semi-modal verb in English that is used to express obligation or duty, often indicating a moral or ethical obligation. It is similar in meaning to "should," but is considered more formal and less common in everyday conversation.
The table below summarizes the proeprties of ought to:

Unlike modal verbs, 'ought to' ends with the particle 'to', but like modal verbs, it is followed by the base form of the verb and has the same form for all persons. Take a look at some examples:

"Had better" is a fixed expression often classified as a semi-modal verb, as it shares some characteristics with modal verbs but is not a true modal verb.
"Had better" is typically used to talk about a present or future situation, not a past one. It is used to suggest that a particular course of action is the best or most advisable thing to do in a given situation.
The table below summarizes the proeprties of had better:

Now take a look at some examples:

The table below summarizes the proeprties of the semi-modal dare:

'Dare' is both a main verb and a semi-modal. 'Dare' as a main verb means 'to challenge somebody to do something dangerous, difficult or embarrassing to show that they are brave.' As a main verb, it takes an object and the verbs that follow it are in the to-infinitive form.

'Dare' as a semi-modal verb is used especially in the present tense and negative forms, and the verbs that follow it must be in base form (infinitive without to). 'Dare' as a semi-modal is negated with the help of auxiliary verb 'do':

The table below summarizes the proeprties of the semi-modal need:

'Need' is another verb in English that can be both a main verb and a semi-modal verb. 'Need' as a main verb means to require something and think something is important to have or to be obligated to do something.

Semi-modal 'need' is not inflected for person or tense, and it can be used with or without 'to' before the following verb.
In its semi-modal form, "need" is used to express necessity or obligation, similar to "must" or "have to".

We use 'used to' to say that an action happened continuously, habitually, or frequently during a period in the past, but not any longer.
The table below summarizes the proeprties of the semi-modal used to:

Now take a look at some examples:

We use 'going to' to express our intention or plan to do something in the future. The decision or plan is made before speaking and may involve some preparation or arrangement.
The table below summarizes the proeprties of the semi-modal going to:

Pay attention to the examples:

'Have to' is used to indicate a present obligation or necessity to do something. It can be used to express certainty, give advice, describe annoying events, or indicate obligations.
The table below summarizes the proeprties of the semi-modal have to:

Take a look at some examples:

Semi-modal verbs are called semi because they have some characteristics of modal verbs and some characteristics of main verbs. They are used to express obligation, necessity, advice, challenges, things in the past using the following terms.