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NIRPS has revolutionized the exoplanet field in only 2.5 years, by reaching an RV precision of 1 m/s, which is a game changer for the follow-up of the terrestrial found by TESS. NIRPS also allows measuring, with unprecedented precision, the composition of transiting planet atmospheres including atmospheric escape signature through helium absorption. However, for many science cases, accessing to the photon collective power of the VLT would be critical, like ESPRESSO compared to HARPS. By 2030, PLATO will unveil hundreds of temperate transiting planets orbiting late M-dwarfs, for which NIR high-resolution spectroscopy and RVs will be required to get mass, characterize their atmospheres and constrain orbital architecture. By that date, GAIA will have completed the identification of late-type dwarfs (M5 and later). NIR High-resolution spectroscopy and RV follow-up of these targets will allow to study the mass-age- metallicity-luminosity and uncover the occurrence of low-mass planets at the bottom of the main sequence. Those scientific drivers motivate the need of a VLT NIRPS-like instrument, as CRIRES+ only offers a limited NIR coverage in one shot and an RV precision of 5 m/s. The proposed instrument would reach R=100'000, a RV precision of 0.5 m/s, would cover the Y, J, H and potentially K band, and would be AO plus mono-mode fiber fed to reduce the spectrograph size and cost. ANDES with its NIR arm will never get enough telescope time to fulfil the discussed RV science cases.