  We present the latest lattice QCD results for baryon interactions obtained at
nearly physical quark masses. $N_f = 2+1$ nonperturbatively ${\cal
O}(a)$-improved Wilson quark action with stout smearing and Iwasaki gauge
action are employed on the lattice of $(96a)^4 \simeq (8.1\mbox{fm})^4$ with
$a^{-1} \simeq 2.3$ GeV, where $m_\pi \simeq 146$ MeV and $m_K \simeq 525$ MeV.
In this report, we study the two-nucleon systems and two-$\Xi$ systems in
$^1S_0$ channel and $^3S_1$-$^3D_1$ coupled channel, and extract central and
tensor interactions by the HAL QCD method. We also present the results for the
$N\Omega$ interaction in $^5S_2$ channel which is relevant to the $N\Omega$
pair-momentum correlation in heavy-ion collision experiments.
