If you want those tasks to repeat several times on the same day, I guess this is not possible.
But otherwise you could set the repeat to 'daily' and 'from completion date', and give the task as start date 'today'
When you complete such a task today, it will be again in your list with start date tomorrow. (Of course, it won't be visible today, unless you create a search that includes tasks with start date tomorrow. When it is a task you'd like to complete a second time today, just check it off again, and since you have it set to repeat 'from completion', the 'new' start date is again tomorrow.
Now, when there is a task that you want to be able to complete several times a day, you could start by creating one instance of the task with start date today and daily repeat from completion. Then make as many clones from the task as you will at most do in a day. (Want to repeat 'drink a glass of water' 6 to 8 times a day? Create 8 clones of the task. Every time you check one off, it will disappear, and reappear on your list for tomorrow...)
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