I see that there are different views or different answers
Here are two examples from Cambridge: (to optional)
If Sally dares (to) go there again, she’ll be in big trouble! (ordinary verb)
He doesn’t dare (to) go there. (ordinary verb) (to is optional)
No one dares (to) go there. (ordinary verb)
But here from another page (to infinitive is only the possible answer)
2. I didn’t .....................… the truth. dare to tell = correct \ dare tell = not correct
Another book grammar (Fundamentals of English Grammar By Dr. Amit Prakash):
Infinitives after dare Negative and interrogative forms with do/did are in theory followed by the infinitive with to, but in practice the to is often omitted: He doesn't dare (to) say anything. Did he dare (to) criticize my arrangements?
Many exercises I answered online and from books like these I mentioned above all use the (to infinitive) when the verb dare = ordinary verb, so with which we go?