As described in the title, I want to know the difference between those expressions.
Let's hear what he had to say about ...
Let's hear what he said about...
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There is an emotive difference between the two. Had to say implies an urgency, a need to express or explain something, or an obligation to say something:
I had to say something to make the dog attack stop.
He did not understand, so I had to say that it's not possible.
He had to say he was a refugee before entering the country.
Said is a more neutral, and possibly more ambiguous in terms of urgency:
He said he was tired, and went to bed.
She said it was raining yesterday.