When you use the perfect perfect tense, one of the meanings implied is that you have experience.
Example: I have driven a stick shift.
In this sentence, you imply that in all your driving experience, you can include driving a stick shift.
Keep this in mind when if you say, “I have had experience driving a stick shift.” If you’re interviewing for a job where the experience required includes driving a stick shift, such as a valet, using the present perfect with the word “experience” is fine.
In other contexts, however, you can just use the present perfect.