This article aims to evaluate improvements in opportunities for research partnerships focused on innovation, considering the ISO 56003 guidelines, Responsible Research and Innovation (RRI) concepts, and the experiences of the authors of this article, who are researchers in various areas (ex post facto). The results presented arise from structured debates and discussions. As a result of the analysis and reflections carried out, some improvement opportunities in most of the partnerships established among research groups can be visualised. Partners in a research group often debate aspects related to technical knowledge associated with the research and contractual procedures in detail; however, they do not equally emphasise other important partnership management aspects, such as the analysis of the research impacts on all stakeholders, the definition and adoption of a governance policy to better conduct the interaction among members, and other actions that can enhance the partnerships. This article can be characterised as a synthesis of lessons learned, in addition to a presentation of guidelines mentioned in the literature. This knowledge can be useful to other researchers in planning new partnerships or evaluating existing ones. For deciding whether to enter into a partnership or withdraw from it, the information presented here is of great value.