When two miners solve a block simultaneously, some miners start working on one, while some work on the other, depending on which information they received first.
A stale block is a block that was removed/dropped from the blockchain.
A stale block is a valid block that was created at the same time as another, but failed to be part of the longest PoW chain, so was removed from the blockchain. All txs from this stale block were put back into the mempool.
It is important for more than one block to be confirmed when sending-receiving because there is always a chance that your transaction ended up in a stale/orphaned block.