Despite the lesson talking about when we use one or the other tense, the test-questions are set without any distinction. In this example for example you can use both because you can consider that "you and your friends were together during a month" seeing this time as finished and disconnected from now, the moment of speaking (pudimos viajar), or you can see it as "you and your friends have been together during a month" in a scenario where it's not relevant when this started and ended, the time is not important, so it's a more general statement. (hemos podido viajar) - they are both past actions but we're not considering nuances.
I hope it clarified it.
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