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If my father had a day off, we always went to see my grandfather.
Is the sentence above grammatically correct?
I thought there should be would go instead of always went whether it's a past habitual action or a hypothetical statement.
Am I wrong? Can you please explain?
There is nothing wrong with your example. Past subjunctive (action conditional, possible, wished for) has the same form as the simple past for all verbs except 'to be'.
You can use a conditional clause instead if you want to, but there is no compulsion.
If my father has a day off, we always go to see my grandfather.
The sentence expresses a habitual situation in the present
We can express this situation in the past as follows:
If my father had a day off, we always went to see my grandfather.
But it will be more appropriate if you replace if with when.
If my father had a day off, we would always go to see my grandfather.
It's usually considered a hypothetical sentence expressing an unreal situation in the present; there's no question about it. I think to make it a habitual situation in a clear way, you use when instead of if as follows:
When my father had a day off, we would always go to see my grandfather.
