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
That didn't even make that much sense in English.