The diverse architectures of planetary systems found so far continue to amaze our community. As new high precision radial velocity instruments allow more in depth characterization of the mass of its rocky components, the study of the planetary interiors becomes more and more reliable. Also, these long-term monitoring campaigns, together with space-based missions, allow us to better understand their architectures and feed formation and evolution models. In this talk, I will present our recent results on three outstanding planetary systems. K2-32, a solar system in miniature showing the same architecture than our own but in a more compact configuration. K2-233, a young system where we confirmed the first rocky worlds around a star younger than 1 Gyr-old. And finally, LHS 1140, a system we have intensively observed with ESPRESSO to characterize the interior structure of its habitable zone rocky planet and found hints for additional interesting and exciting components. I will finish my talk by presenting the KOBE experiment, a CAB-lead three-year legacy program to find new habitable planets with CARMENES.