Learning How to Grow Perennials

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I'm still fairly new to gardening. So far, I've only successfully grown sweet basil, bell peppers, and bird's eye chili, all from seed. Because of that, I've been wanting to venture into growing more perennials. One plant I'm particularly interested in is rosemary. I know that starting rosemary from seed can be challenging because of its notoriously low germination rate, but I really enjoy the process of growing plants completely from scratch. There's just something satisfying about watching them develop from a tiny seed into a mature plant. The problem is that every rosemary plant I've bought from a nursery has eventually died, and I'm not entirely sure why. Has anyone else experienced this? What are the most common mistakes people make when growing rosemary? My thyme has been a different story. I started it from seed, and it was doing beautifully up until about a week ago. Now I've noticed that the leaves seem much smaller than they should be, and the plants look weak and droopy during the afternoon. I'm not sure what's causing it. It could be heat stress, watering issues, or something else entirely. For those who grow rosemary and thyme successfully, what conditions do you find work best? I'd love to hear any tips, especially from people who have grown them from seed or store bought seedlings.