This study investigates the symmetry and magnitude of spin-orbit torques (SOTs) in ferromagnetic heterostructures. The research focuses on measuring SOTs in AlOₓ/Co/Pt and MgO/CoFeB/Ta trilayers using harmonic analysis of the anomalous and planar Hall effects. The results show that SOTs include strongly anisotropic field-like and spin transfer-like components, which depend on the annealing conditions and type of heavy metal layer. The study also demonstrates that asymmetric heterostructures allow for two different SOTs with odd and even behavior with respect to magnetization reversal. The findings highlight the importance of interfacial effects in determining the magnitude and anisotropy of SOTs. The research provides a general expression for spin accumulation and SOTs in magnetic heterostructures, and a method for three-dimensional vector measurements of SOTs using an ac susceptibility technique. The study also shows that the torque to current ratios vary depending on the material and interface quality, and that the SOT models based on the Rashba and spin Hall effects need to be extended to account for realistic electronic structures. The results have implications for the development of novel spintronic devices where different magnetic states are induced by specific SOT components.This study investigates the symmetry and magnitude of spin-orbit torques (SOTs) in ferromagnetic heterostructures. The research focuses on measuring SOTs in AlOₓ/Co/Pt and MgO/CoFeB/Ta trilayers using harmonic analysis of the anomalous and planar Hall effects. The results show that SOTs include strongly anisotropic field-like and spin transfer-like components, which depend on the annealing conditions and type of heavy metal layer. The study also demonstrates that asymmetric heterostructures allow for two different SOTs with odd and even behavior with respect to magnetization reversal. The findings highlight the importance of interfacial effects in determining the magnitude and anisotropy of SOTs. The research provides a general expression for spin accumulation and SOTs in magnetic heterostructures, and a method for three-dimensional vector measurements of SOTs using an ac susceptibility technique. The study also shows that the torque to current ratios vary depending on the material and interface quality, and that the SOT models based on the Rashba and spin Hall effects need to be extended to account for realistic electronic structures. The results have implications for the development of novel spintronic devices where different magnetic states are induced by specific SOT components.