Myth check
If it happened yesterday, I should use 过.
过 marks experience on the record. Yesterday’s lunch is usually 了 or a time word, not 过.
Verdict
mostly_false
Why
你去过北京吗？ asks whether Beijing is in your life. 你昨天去北京了吗？ asks about yesterday.
我没去过 is “never.” 我没去 is “didn’t (that time).”
Stacking 过 on every English present-perfect sentence creates a fake tense you will have to unlearn.
Better framing
Use 过 for “ever / before in my life.” Use time words plus 了/没 for a specific occasion.
Practice tip
Ask 你去过___吗？ with three places, then ask 你昨天去___了吗？ and feel the difference.