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Which one should I use and why?

Europe has therefore to assume a positive role to be master of its future.

Europe must therefore assume a positive role to be master of its future.
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Which one should I use and why?

Europe has therefore to assume a positive role to be master of its future.

Europe must therefore assume a positive role to be master of its future.
To me both are correct. The word 'must' is more emphatic than 'has'.
<Europe has therefore to assume a positive role to be master of its future.>

NB:

Europe has therefore to assume a positive role to be master of its future. (has to)
Students: Are you brave enough to let our tutors analyse your pronunciation?
"Warning": American English viewpoint.

Not to be flippant, but the first one, with its intervening therefore, is really the more stylish of the two. Emotion: smile
And the stronger, to my ear. And I think that that kind of must (the one that means have to) can sometimes sound awfully stuffy to Americans.

CJ
< And I think that that kind of must (the one that means have to) can sometimes sound awfully stuffy to Americans.>

What's the difference between stuffy language and formal language for Americans?
Hey, Jim, "awfully" is a word I find stuffy.

Emotion: smile
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awfully is more like slang for very here.
You wouldn't think it was stuffy if you lived here. I'm awfully sorry you feel that way because it's awfully common here. (It's way common here.) Emotion: smile

stuffy - my vague word for put on, as in putting on airs; effete, weak, indirect; snooty, snobbish; (unnecessarily) formal; not "with it"; like your grandparents probably talked.

CJ
< like your grandparents probably talked.>

Not mine, they were of Yorkshire miner stock.

They spoke in this way:

"If tha knows nowt, say nowt an appen nob'dy 'll notice."
Emotion: big smile
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