Leave, and need regularly to have escaped (6)
I believe the answer is:
evaded
'escaped' is the definition.
(evading is a kind of escaping)
'leave and need regularly' is the wordplay.
'regularly' indicates alternate letters (regularly take one letter, leave next etc.).
'leave'+'and'+'need'='leaveandneed'
The alternate letters of 'leaveandneed' are 'EVADED'.
'to have' is the link.
(Other definitions for evaded that I've seen before include "Dodged by cleverness" , "Escaped paying (tax)" , "avoided answering" , "Didn't meet" , "Avoided, dodged" .)