Over the past decade of spintronics research, the use of spin-orbit torque (SOT), originating from spin-orbit coupling, has emerged as an ultrafast and energy efficient method for electrically switching magnetizations. In this talk, we will discuss the microscopic origins of SOT, the current advantages and challenges of SOT, and how the use of epitaxial systems can influence the SOT in spintronic devices, by showcasing certain epitaxial Pt-based heterostructures. By using a Pt(110)-oriented system, we demonstrate that anisotropic SOT can be generated and enhanced from interfacial contributions. We also show that in a Pt(111)-oriented system, we are able to achieve field-free switching, addressing one of the major issues in perpendicularly magnetized spintronic devices. Finally, we will provide an outlook for the future of SOT, and compare its use in other materials systems.