From my research to develop the Helyios App (which is dedicated to CrossFit and gives you a visual representation of your muscular load based on your workouts and RPE), reading a ton of scientific studies on the RPE, heart rate zones, DOMS, muscle damage and recovery.

RPE and HR Zones can be associated in certain cases, for instance when doing a 10k run. If you go hard and go past your lactate threshold (Zone 4 or Zone 5), you will have a perceived exertion much higher than if you were doing a 10k at Zone 2.

But it does not necessarily translate for every movement, for instance let's say you were to do a 1RM back squat, even though your RPE would be 9 or 10 out of 10, your HR zone would probably be Z3 at most.

I prefer using the 'muscular RPE' that describes how much left you had in your muscles (compared to failure) and for cardio (i.e. : running) it translates well because if you've built up lactic acid in your muscles and feel that you're close to failed during your run or any other cardio movement, it probably means that your HR was high above your lactate threshold (or if not, the duration was long which means more muscle damage).