1. was 2. missed 3. had to 4. took 5. have

1. was - Past Simple;

2. missed - Past Simple;

3. had to - Past Simple;

4. took - Past Simple;

5. have already explored - Present Perfect;

6. has joined - Present Perfect;

7. havent chosen - Present Perfect;

8. have been doing - Present Perfect Continuous;

9. have you returned - Present Perfect.