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For example, I have sentence: 朝ご飯を食べて、学校に行きました。 Can I omit the comma or it is required?

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You can omit it, but reading and understanding will become much harder. Therefore, I am recommending using comma. Furthermore ~て has multiple meanings. In written Japanese 「朝ご飯を食べ、学校に行きました」would be used, because this Verb-form has only one meaning "and" and is easier to understand.

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