Hiroshi and Aya (go) for a walk yesterday morning Вапрос ставить Present perfect tense or past simple tense

Present perfect - Hiroshi and Aya have gone  for a walk yesterday morning.

Past simple - Hiroshi and Aya did went  for a walk yesterday morning.

Present perfect - Конструкция: subject + Have/Has + V3 (Третья форма глагола) V-ED

Past simple - Конструкция: Subject + did/didn't + V2 V-ED.

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