This board provides 3 excellent templates designed to help set you up for success when you are joining a new team:
Contracting - use this template, especially if you are a coach, to surface assumptions and co-create a work plan when you join a new team.
Herculean donut - use this template when you need to get into the nitty gritty of roles and responsibilities on a team. This can be easily modified for non-scrum teams - just change the roles on the donut and the responsibility cards.
Delegation poker - great for establishing decision-making matrices when joining a new team, or if your existing team is having challenges understanding who decides what.