A gift and a small hazard. For -ar verbs, and for -ir verbs, the point past "we" form is exactly the same as the present.
So you get another form of this very irregular tense for free, without a new ending to learn.
Hablamos ayer (we spoke yesterday) · Hablamos mañana (we will speak tomorrow)
This follows from the single -er against -ir difference in the present. Since -ir verbs already use -imos there, they stay identical. Only -er verbs shift.
Nos perdemos siempre, pero no nos perdimos ayer · No salimos a menudo, pero salimos ayer
That first sentence shows the contrast; the second shows an -ir verb where both are the same word.
In real life this rarely causes trouble, because something in the sentence usually places you in time.
The first half is identical. It is the second half that tells you which one you are in.
Esperamos mucho ayer · Hablamos ayer
Menudo on its own is a literary word for small, related to minute and minuscule, and rarely used that way. But a menudo for often is very common.
Desesperado is another -ado adjective, from desesperar, so literally "un-hoped".
Three of the five people, using the two hook verbs.
Nos perdimos (we got lost) · Siempre nos perdemos / Nos perdemos siempre
The nos is what makes it getting lost rather than plain losing, in the past exactly as in the present.