What is the difference between 익히다 and 요리하다?
익히다 - To cook something through (i.e. completely)
요리하다 - To cook; to do the cooking ( = as in to undertake the cooking task )
조리하다 - To cook as in to prepare the dishes/meal
요리하다=to make it as food
You can 요리하다 salad, but you can't 익히다 salad.
익히셨어요: past indicative informal polite form with honorific
But no honorific on 아빠. Seems inconsistent.