The difference of xiǎng vs yào?

Hello! I'm a new mandarin learner. I'm curious to know, what is the difference between xiǎng and yào? I've noticed sometimes they're used interchangeably, but other times they are even used together.

You'll have to excuse me using google translate, but for example in the sentence:

Wǒ xiǎng yào tíqǔ 2000 měiyuán (I want to withdraw $2000)

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is it necessary to use both xiǎng and yào?

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