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The phrase "decide to join" is grammatically correct and commonly used in written English.
It is typically used to describe someone's decision to become a member of a group, organization, or team. Example: After much contemplation, I have decided to join the local community choir.
Exact(59)
Security employees can decide to join the Interior Ministry, which supervises the police, the order said.
(Only later, Mr. Abraham added, did he decide to join Areva in a largely advisory role).
Q At what point did you decide to join the company?
But it was unclear whether the administration would decide to join the environmentalists in any appeal.
The two decide to join the boycott, communicating by carrier pigeon all day.
If they finally fail it is quite likely that many will decide to join the resistance campaign.
The conference also offered a more permanent home should the Irish decide to join a football conference.
Beyond the Dome he meets Pressia, who saves him from marauding Groupies, and they decide to join forces.
The total amount could ultimately be higher if regulators in other states decide to join Mr. Lawsky.
He predicted that other Democrats would decide to join the coalition, saying there is broad frustration with Mr. Smith's leadership.
He said that the chance that his wife would decide to join him was twenty per cent, if that.
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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