How to use p7zip to open RAR files?

This is a more specific question of How to open rar file in linux (asked in 2015) that had no detailed answer for p7zip to open RAR files at this time of writing. p7zip is essentially the 7-zip archive manager on Linux, except that does not include the graphical interface. p7zip should be able to open RAR files like 7-zip does, but some recently downloaded RAR files can not be opened using p7zip. The RAR file itself is not broken for sure. This question may cover the following sub-questions (without the question marks, as not to be confused with the main question), which are relevant to explain the how-to: * Does p7zip really support RAR format * Which package to install for p7zip to support RAR format, and which repository would provide the package * Which binary of 7z, 7za, or 7zr can open the RAR file * Can p7zip be used to open the RAR file via graphical interface * When using p7zip to open the RAR file, the command failed with message "Error: Can not open file as archive", then how to solve So how to use p7zip to open RAR files? > This is a **self-answer** question that has been written like a new question, which was created based on the discussion in this meta post . Should there be more than one answer, the most accurate and most complete answer will be accepted after some time (not immediately).