Have experienced or did experience?

Dear Teacher,

I would like to know whether native speakers say "Have you experienced any embarrassing moment?" or "Did you experience any embarrasing moment?" Probably the former one is more common but why the latter one is unacceptable? I would be much grateful if you can answer me this. Thank you in advance.

Regards,
Dan

[Casiopea]

"Did" refers to a specific time in the past, whereas "Have" does not. For example,

Specfic: The "When" is known to the speaker
Did you experience any embarrassing moments yesterday at the meeting?

Non-Specific: The "When" is unknown to the speaker
Have you ever experienced any embarrassing moments in your life?