We summarize recent developments in the study of hadron-hadron interactions using lattice QCD near the physical pion mass ($m_π \simeq 146$ MeV), based on the HAL QCD method and its connection to experimental data. In particular, we focus on several key interaction channels shown below. Also, we examine the two-pion exchange (TPE) mechanism, which governs the long-range behavior of interactions between flavor-singlet hadrons, as well as between nucleons and flavor-singlet hadrons.