For recurring invoices, we need to be on an Essentials plan, but once we are, we can follow the steps below to get this done.
Further on this we have a guide to setting them up: How to create a recurring invoice and manage recurring transactions
For membership types, hmm, we could set these up as specific products, i.e. 12 month membership at a certain rate, and then a 24 membership at a certain rate, etc. Let me know how your memberships work and we can help get these set up.