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Reply to "to be"

This sentence isn't quite right in my grammar. It ought to be "Those with mild symptoms only require monitoring."

I would only put an infinitive after require if there's also an object.

*Bringing up children often requires to put their needs first.

The word you is missing there.

The object can be missing if the sentence is passive, as often occurs:

You are required to do your homework.

is ok.

But your sentence is not passive.

However, I see examples on the internet of require+infinite:

one does not require to be a specialist — Elizabeth Bowen

In conclusion...