YOU SAID:

I have to drive my car today and get the milk

INTO JAPANESE

今日は車を運転して牛乳を飲まなければならない

BACK INTO ENGLISH

I have to drive a car and drink milk today

INTO JAPANESE

今日は車を運転して牛乳を飲む必要があります

BACK INTO ENGLISH

I need to drive a car and drink milk today

INTO JAPANESE

今日は車を運転して牛乳を飲む必要があります

BACK INTO ENGLISH

I need to drive a car and drink milk today