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The phrase "agreed to prepare" is grammatically correct and usable in written English.
You can use it when you are referring to someone having agreed to do something prior to the time of writing. For example: "The committee agreed to prepare an official report on the issue."
Exact(27)
Kurland agreed to prepare a book of Frankfurter's "extrajudiciary essays".
Ultimately, negotiators agreed to prepare detailed side agreements on those two issues.
He agreed to prepare a gala meal at Caffe Bondi, a Sicilian restaurant in Chelsea.
Armstrong agreed to prepare for one last race, in the United States.
In the meantime, Britain agreed to prepare Iraq for membership in the League of Nations "as soon as possible".
Under the settlement, the Park Service agreed to prepare the supplemental environmental impact statement that it issued today.
Similar(33)
Why did Amazon agree to prepare two letters documenting different parts of the deal?
By submitting Material for publication, or by agreeing to prepare Material for publication or by using the Website you agree to be legally bound by these Terms which will take effect immediately.
Candidates receive salary support and mentorship, while agreeing to prepare and deliver a company pitch deck, and participate in the Entrepreneur's Workshop Series and the In-Depth Customer Discovery Workshop.
When 7-year-old Richard tells his grandmother about Thanksgiving and the Pilgrims, she agrees to prepare a turkey, but does so "as if committing an act of treason". Growing up gay and Cuban American was an even bigger challenge.
It took him two years to repay his own loans, mostly with small checks from black executives who agreed to help him prepare for another run.
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Since I tried Ludwig back in 2017, I have been constantly using it in both editing and translation. Ever since, I suggest it to my translators at ProSciEditing.

Justyna Jupowicz-Kozak
CEO of Professional Science Editing for Scientists @ prosciediting.com