Yes, you can. None of those verbs is a modal in those sentences. In modern English 'need' and 'dare' are very rarely modals. Most of the time we use them as ordinary verbs, followed by 'to' and the infinitive - as you have done here. 'Do' is never a modal. It is an auxiliary verb. Your sentence is a straightforward past simple negative using 'didn't' as the auxiliary verb. Your sentences are fine.