Verb + 아/어/여 보다 : This pattern is used to:
Tell someone to try or attempt something and to see the result of doing so.
As a question this can be used to ask if someone has ever done or tried something, for example "미국에 가 봤어요?" could be translated to "Have you ever been to America?"
It can also be used to make a command sound less strong and demanding.
Notes
This pattern sometimes really doesn't have a specific meaning, it just makes the sentence sound more natural, for example "기다려 봐" isn't exactly telling someone to try waiting, it's just telling them to wait.