With the "I have forgotten" it either just happened (you know how that happens - one minute it's on the tip of your tongue and the next minute you simply can't remember) or you think it will come back to you. "I forgot" means it's unlikely you'll remember.
For the others, use "Did," unless you expect the running to be a recurring activity.
Have you seen Niagra Falls lit up at night? (Ever in your life? It can still happen.)
You were in Buffalo last week? Did you see Niagra Falls lit up at night? (When you were on your now-completed trip)