Re: Present Perfect: Have you seen someone walking
Welcome to the forum, Dustry.
This is not particularly to do with the present perfect:
I often see him drive/driving off in the morning.
I saw him drive/driving off this morning.
I am watching him drive/driving off ath this very moment.
If you see/watch/hear/etc someone do something, you see the whole action from beginning to end. If you see/etc someone doing something, you do not necessarily see the whole action, Compare:
I saw Smith run the 100 metres,
I saw Jones running the marathon.
In your sentences you can use either the bare infinitive 'drive, walk' or the gerund 'driving, walking', depending on how you wish to present the situation.
Please do not edit your question after it has received a response. Such editing can make the response hard for others to understand.