to drive or thrust something into a surface or a body with a sharp, forceful blow
This is the literal core of the word: a single hard motion that drives one thing into another. A hand swings a hammer and the tent peg goes into the ground; a soldier rams a blade home; a strong wind hurls a swarm into the sea. The same physical picture covers very different objects because what the word names is the motion, not the thing moved.
The senses below sort by what is driven and where. Notice that the word can have a person doing the driving (Ehud, Jael, Joab) or a force of nature (the wind in Egypt), and that the target can be earth, a wall, or living flesh. In every case there is impact and lodging: the object goes in and stays put.
The English translator has to choose a verb to match the object, which is why one Hebrew word becomes drive, thrust, pierce, pitch, or fasten in the same English Bible.