Yes, you can say "el verano pasado solíamos ir a la playa todos los sábados" with "soler" in El Pretérito Imperfecto because it is a repeated action (every Saturday) that took place in the past. If you used "el sábado pasado" as the time marker, then you should use El Pretérito Indefinido because in that case, the action is completed and it only happened on that specific day.
I hope this helps.
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