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Understanding the internal structure of the nucleon from first principles is a central goal of modern hadronic physics. Lattice QCD provides a non-perturbative framework to compute key nucleon observables, including axial and electromagnetic form factors, which are essential for describing nucleon structure and interactions. In this talk, I will present recent high-precision results from the Extended Twisted Mass Collaboration, obtained directly at the physical pion mass. A key focus will be on the challenges inherent in these calculations, particularly the contamination from excited states and the significant computational costs associated with achieving precision. I will discuss strategies employed to mitigate these issues, including advanced analysis techniques and improvements in the statistical precision of matrix element extractions.