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The phrase "decide to do" is correct and usable in written English.
You can use it when you are expressing the decision to take an action. Example: After careful consideration, we decided to do everything we can to help our local community.
Exact(60)
Decide to do nothing.
He must decide to do so himself.
States may, indeed, decide to do so.
Why did you decide to do so?
Why did you decide to do this?
Or it might decide to do nothing.
They decide to do it.
Why did you decide to do it?
Then I decide to do the Eiger.
Don't know what he'll decide to do.
Why did we decide to do it?
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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