Adjust - spacing when two words too close
If two words is too close and "-" is not visible, adjust the later word spacing by pressing Ctrl + right (one time enough).
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Comments
That is indeed one way to do it. BTW, it's not strictly necessary - it is completely acceptable to not show the hyphens in these cases, which is why MuseScore does this to save space by default. In MuseScore 3, there will be options to control this.