In the Venn, we can depict that criminal trial aims to determine guilt or innocence and impose penalties whereas an impeachment and Senate trial focus on removing civil officeholders from their positions due to alleged misconduct etc.
A normal criminal investigation and trial and the impeachment process and Senate trial for a civil office share some similarities but also exhibit significant differences. Both involve a legal process where evidence is presented and witnesses are called before a judgment is rendered.
In a typical criminal investigation and trial, the primary goal is to determine the guilt or innocence of an individual accused of committing a crime. The investigation is conducted by law enforcement agencies, and if enough evidence is gathered and charges are filed by the prosecution.
Note: The venn diagram showing how civil and criminal matter differs and relate is attached below