The paper investigates the symmetry, magnitude, and origin of spin-orbit torques (SOTs) in ferromagnetic heterostructures, specifically AlOx/Co/Pt and MgO/CoFeB/Ta trilayers. SOTs are induced by orbital-to-spin momentum transfer and can be used to manipulate magnetization without the need for a polarizer layer. The authors derive general expressions for SOTs based on symmetry arguments and present a method to measure SOTs using harmonic analysis of the anomalous and planar Hall effects. They find that SOTs include both field-like and spin transfer-like components, which depend on the annealing conditions and the type of heavy metal layer. The results show that SOTs have complex vector dependencies on the magnetization direction, with significant deviations from models based on the Rashba and spin Hall effects. The study highlights the importance of considering anisotropy in SOT models and suggests that tuning the vector properties of SOTs may be crucial for developing novel spintronic devices.The paper investigates the symmetry, magnitude, and origin of spin-orbit torques (SOTs) in ferromagnetic heterostructures, specifically AlOx/Co/Pt and MgO/CoFeB/Ta trilayers. SOTs are induced by orbital-to-spin momentum transfer and can be used to manipulate magnetization without the need for a polarizer layer. The authors derive general expressions for SOTs based on symmetry arguments and present a method to measure SOTs using harmonic analysis of the anomalous and planar Hall effects. They find that SOTs include both field-like and spin transfer-like components, which depend on the annealing conditions and the type of heavy metal layer. The results show that SOTs have complex vector dependencies on the magnetization direction, with significant deviations from models based on the Rashba and spin Hall effects. The study highlights the importance of considering anisotropy in SOT models and suggests that tuning the vector properties of SOTs may be crucial for developing novel spintronic devices.