yo cantaba en un grupo
is there a difference between the above?
do they both mean I used to sing?
Both mean the same, but the structure with soler is a bit more emphatic. Also, while using soler is always going to convey the idea of "used to" or in the present "suelo...", "I usually...", when we use the imperfect tense of the main verb (without soler), it can mean "I used to..." or "I was [doing]...", or "I did something [regularly]" depending on the context.
I hope it clarified it.
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