Come - Tamil: வா /vaa/

Come - Tamil: வாங்க /vaanga/

Come here - Tamil: இங்கே வா.  /ingae vaa/

Come here - Tamil: இங்கே வாங்க.  /ingae vaanga/

The first is the non polite form of the verb that we can use with youngsters and close friends.

The second one is the polite form that is used with elders and others to show respect.

The first sentence is non polite and the second sentence is polite.

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