The interior evolution of Earth (and other planets) fundamentally shapes what we observe on and inside them today. Plate tectonics, the magnetic field, atmosphere and other layers of the planet are all interlinked in various ways to the interior dynamics. Such dynamics change strikingly through time from magma ocean formation and cooling, to early crust formation and tectonic regime, and eventually to modern-style tectonics as observed today. The details of these stages, their timing and transition is specific for each planet; comparing different bodies thus remains a highly relevant task. Theoretical, numerical, and observational approaches from various disciplines (e.g. geodynamics, mineral physics, geochemistry, petrology, thermodynamics, comparative planetology) need to be intertwined - and are invited to this session - to boost our understanding of the Earth's interior evolution that span various scales of time and space.