YOU SAID:

I have drunk a beer with a Japanese friend at the tavern

INTO JAPANESE

居酒屋で日本人の友人と一緒にビールを飲みました

BACK INTO ENGLISH

I had a beer with a Japanese friend at a tavern

INTO JAPANESE

居酒屋で日本人の友人とビールを飲んだ

BACK INTO ENGLISH

I drank beer with a Japanese friend at a tavern

INTO JAPANESE

居酒屋で日本人の友人とビールを飲みました

BACK INTO ENGLISH

I had a beer with a Japanese friend at a tavern

INTO JAPANESE

居酒屋で日本人の友人とビールを飲んだ

BACK INTO ENGLISH

I drank beer with a Japanese friend at a tavern

INTO JAPANESE

居酒屋で日本人の友人とビールを飲みました