Most definitely as a baby or toddler, yes you have. And if it was not asphalt it was similar stuff like walls and such.
As soon as one has enough data and a brain developed enough one absolutely can tell the feel and taste of stuff even if not tested.
Bonus points if your a parent. Toddlers WILL force stuff in your mouth and you WILL have the chance to test the theories.
Oh, these kids will make their experiences whatsoever. Even helicopter parents need to do stuff from time to time and kids somehow KNOW if they are not watched, ever for a second. It might take longer to make all the experience one needs, but they will get them one way or another.