This is one explanation I found, but it doesn't include the local adverbial phrases. https://sproget.dk/raad-og-regler/artikler-mv/mal-og-maele/have_eller_vaere_gaet
According to Danish an Essential Grammar intransitive verbs (no object) expressing motion may occasionally express either an action (use har) or state of affairs (use er): Vi har gået (action)... we have walked. Vi er gået... (state) we have gone. In the Duo sentence above there is no change of state or location and so har is used. This is similar to German with verbs such as schwimmen, segeln, rudern, tanzen and a few others.