Compare the present form and have -en
We use the present form to talk about things generally.
We use have/has + -en to talk about specific experiences (results we have in the present).
I often go to Africa. (generally: many times)
He doesn’t play baseball. (this generally doesn’t happen)
Do you eat insects? (generally: many times)
I‘ve been to Africa. (maybe once)
He hasn’t played baseball. (not yet: he may do it in the future)
Have you eaten insects? (maybe once)
We often talk about what generally happens then more specifically about experiences in the same conversation.