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When I learn new words in Japanese (using jisho.org), I often see a verb like
for example "to drive" as 乗り回す and 運転する, "to study" as 学ぶ and 勉強する, "to
understand" 分かる and 了解する, why ?? Why is there for the same English verb both a
verb and another as Noun+suru in Japanese ? Do we use both of them as we want,
or is there a rule to know what verb to use ? Do they mean the same thing ? Is
there one that is more often used ?

I'm confused, and because there is a lot of English verbs that has 2
translation in Japanese, it makes the study of the language harder. Thank you
:)
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meaning verbs wago-and-kango
U/RU verbs vs Noun+Suru verbs
The verbs with する (aka suru-verbs) are part of [Sino-Japanese
vocabulary](https://en.wikipedia.org/wiki/Sino-Japanese_vocabulary) (aka 漢語
_kango_ ). Ones without する are part of native Japanese vocabulary (aka 和語
_wago_ or [_Yamato kotoba_](https://en.wikipedia.org/wiki/Yamato_kotoba)). If
you already know _on_ and _kun_ readings of a kanji, you can see most suru-
verbs use _on_ readings, and most u-/ru-verbs use _kun_ readings.

Therefore, the basic tendency is that suru-verbs, as _kango_ , look stiffer,
more technical or academic. U-/ru-verbs, as _wago_ , are preferred in casual
conversations. Unfortunately, there are some exceptions, and ultimately you'll
have to learn the usage of each verb from real examples.

Finally, the verb pairs you listed as examples are not really the same in
meaning. I won't go into each example, but for 学ぶ vs 勉強する, see: [Differences
between 勉強する、習う、学ぶ and 学習する?](https://japanese.stackexchange.com/q/18645/5010)
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As a couple of your examples did not actually have identical meanings, I will
focus on the one that better illustrates the nature of your question, namely
了解 vs. 分かる.

分かる is a general term for knowing something. It does not specifically imply
full comprehension.

了解{りょうかい｝する is used with peers or people of lower status (corporate or social
environments). Equivalent to saying ‘Roger’, ‘10-4’, or ‘Got it’. As 了解 is
generally associated with military speech, it can be difficult to use it in
most formal situations.

承知｛しょうち｝する means the same as 分かる, but is used with people who are above you in
rank or status (customers, bosses).

かしこまりました means the same thing as 分かりました and is used in the same context as
承知しました. It is used as an affirmative that you have understood when addressing
those of higher position.

理解｛りかい｝する is used to specify comprehension (full understanding).

As you can see, most of these have different meanings, nuances, or specific
situations to be used in.

As an example of a 訓読み and 漢語｛かんご｝ which mean the same thing, take the
following example:

保持｛ほじ｝ is an amalgamation of 保つ｛たもつ｝ (to keep; retain; maintain) and 持つ｛もつ｝
(to have, to hold). In English it would be ‘retain’ or ‘maintain’, usually
used interchangeably with 保つ.

The reason that one or the other would be used is arbitrary, reflecting the
environment that it is used in and/or the impression that the speaker wishes
to convey. Aside from a simple literary inclination on the part of the speaker
there is really no substantive difference in nuance.  
漢語 usually sounds more educated, thus is preferred in academic surroundings.
If used in casual situations, however, it might sound stiff and too formal.
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