When قَدْ enters before a past-tense verb, the source gives two possible readings.
Emphasis or realized occurrence
The speaker presents the action as established or actually having occurred. English may use “indeed,” “certainly,” or simply a firm perfect translation.
Recent past
The action has happened recently or its completed result is relevant now. English commonly uses “has/have + past participle.”
Context decides which reading is suitable; قَدْ does not have to be translated by the same word every time.