You can express ability or potential if you use the dictionary form of verbs, and attach to it KOTO GA DEKIMASU (can do / Literally, can do the thing of). Let's make a sentence, using KOTO GA ...

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That is what we did in the past or what we have done. And if we combine TA-form verbs and KOTO GA ARIMASU, we can talk about what we have done before, that is, our experiences. If, for example ...