过 in this context means "had" Chinese do not have tenses to indicate times but Chinese uses specific time indicators. So the translation becomes, "I HAD been soaking in the hot springs for a few times".

English: How many times did I go to hot springs? 泡 means soak but I think it is weird in English to say soak somebody into hot springs. 过 means in past time here so I asked with "did". and this question is asking how many times in past time. So 过 has to be used in this situation.

过 past thing 吃饭 吃过饭 eat 。ate 上课 上过课have lesson。 had lesson

泡溫泉 is the collocation that you can recite all together, literally meaning soaking in the hot spring. 過 is the particles used to show that you have done something before (to indicate the past experience). So the whole sentence means: I have been to the hot spring for a few times. Hope it helps.

This text could either be a question or an expression, if there's no question mark, and no other context, I'll think it means "I have been to hot springs couple times." 泡 is a verb here used as a collocation of 溫泉. Another example: 泡茶 steep tea