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Does using the imperative form (i.e., よこす → よこせ) before と言う mean "[He] said I have/had to..."?
I saw this sentence used: シートが砂で汚れたから、クリーニング代よこせと言いました！
I think this sentence basically means: Because I dirtied the seat with sand, [the taxi driver] said I had to pay the cleaning cost!
So, can using the imperative form of a verb mean "...said I had to..."?
And, if that is true, then could I make the following sentences?
お世話になります！
It's a simple imperative plus quoting particle. A basic "he told me to pay for the cleaning," or "tell me to go" or "told me to eat," essentially the same thing as what you offered as translations. It's a form of direct quotation and this doesn't really constitute a special case.
