박히다 is being driven or lodged into something. Most of these lines are about memory, where the adverb measures how hard it landed: a memory lodged powerfully, a scene driven deep into someone's mind, a smile that left a strong impression, something that hits you right in the face. The literal use is here too, with cheese set in big chunks through the food and something lodged by the veranda window. 박다 is driving something in; 박히다 is it being in there.