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A darlington transistor is not so different from a simple transistor, it just has a higher current gain and the base-emitter has a higher voltage drop (about 0.6v+0.6v) because inside the darligton the emitter of the first transistor drives the base of the second.
So you can use a circuit like
where U3 and U4 will be darlingtons but the high and low voltage output of the totem pole will have a difference of about 1.2v from the input voltage.