Q:

Do I need to repeat the 'have' before the second verb?

I wonder whether it is optional/necessary that I repeat the 'have' in the sentence below (from an academic writing)

While both aforementioned approaches have enjoyed many success stories and have drawn on mature implementations in industry, their limitations becomes prominent when handling embedded software. 

A:

I think it's a close call. If you leave it out, there can be no ambiguity because 'drawn' is the past participle and therefore can only belong with the previous 'have'. On the other hand the gap is just long enough to give pause when reading.
It is grammatically correct with a single 'have' but, on balance I suggest repeating it.

