We have all had the experience of.....
We all have had the experience of....
Both positions are fine. I would say that the first is better because in speech we would likely say "we've" for "we have", and even if we say "we have" it is easier to say.
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Both positions are fine. I would say that the first is better because in speech we would likely say "we've" for "we have", and even if we say "we have" it is easier to say.