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We report on our determinations of $B\to \pi\ell\nu$, $B_s\to K \ell \nu$ and$B_s\to D_s \ell \nu$ semileptonic form factors. In addition we discuss thedetermination of $R$-ratios testing lepton-flavor universality and suggest animproved ratio. Our calculations are based on the set of 2+1 flavor domain-wallIwasaki gauge field configurations generated by the RBC/UKQCD collaborationwith three lattice spacings of $1/a = 1.78$, $2.38$, and $2.79\,\text{GeV}$. Weuse the relativistic heavy quark action for $b$ quarks and charm quarks aresimulated with the M\"obius domain-wall fermion action.

Form factors for semileptonic $B\to\pi$, $B_s\to K$ and $B_s\to D_s$ decays