It seems to me that in many cases we could substitute the imperfect with perfect. The main difference would be that in the former we talk about a repeated activity and in the latter about whether something ever took place or a few times at the most.
Yes, you could use El Perfecto in lots of these sentences, especially the ones with no time markers, for example in these two:
Sofía iba de Madrid a Jaén.
Sofía was going/ used to go from Madrid to Jaen.
Sofía ha ido de Madrid a Jaén.
Sofía went from Madrid to Jaen.
On this last sentence using El Perfecto, this is talking about either a specific journey that Sofía did at some point in the past without specifying when exactly or simply a sentence explaining part of her trip, again without specyfing on when.
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