Many of my students experience problems pronouncing verbs in the past ending in -ed and there is a simple rule to remember with these words.
If the verb ends in a /t/ or /d/ we pronounce the -ed as /id/
I waited all day
He repeated the words after his teacher
For other words, we don’t pronounce the “e”, so the word should end simply as a /t/ or /d/ depending on the vibration in the throat but this should come naturally if you can avoid pronouncing the “e” where it’s not needed.
I remained at home
I worked all day
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