I am always confused when it comes to this type of sentence:
- She does use her car rarely.
- She uses her car rarely.
So, what is the difference?
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The auxiliary do is used for emphasis here. It does sound a bit odd with rarely, though; a more natural word to use do with would be frequently. It would typically stress that something is indeed the case, despite it appearing differently. We do want to help you when what you actually do looks like you're not (eg taking a cigarette away from someone).
The technical term is emphatic do.
See this page for more examples.