Let's try writing something that uses an embedded adverb along with some other verb group elements.
Now, this is not a natural way to write anything: "Okay, now I need to think of a tense helper, now I need to come up with a modal verb..."
Remember the point here is to get a feel for each of these word types, and the easiest way to do that is to write something and then add, remove, swap, and move elements to see what effects you can create.
Start by writing a sentence, and then take words from the snippets and examples above and see how you can use them in your sentence.
For example, you might write, "I want to scratch my head" and then look at the adverbs above and while you might not think simply, very or possibly work well, they do make you think of the word 'softly', so you change your sentence to "I want to softly scratch my head" and so on, carrying on with some of the other word types.