Using InfoPath and SharePoint for series of submissions

Our company has monthly manager-agent meetings where the agent is expected to fill out a goals setting form and the manager pulls it up. The form was created in excel and is uploaded to SharePoint folder. Rather then using the stagnant Excel form and uploading method, my goal is:

1. Use an InfoPath form to submit the goal setting to a SharePoint list
2. Have form auto populates fields like "Last month's goals" and "Current metrics" pulling from other list items, items from other lists, and/or excel sheets on condition of the agent submitting the form
3. Enable agents and managers to pull up current or past forms rather then viewing them in list format.

To my understanding, SharePoint can calculate fields from other columns in the same row, but not from another row. Can InfoPath fill fields with data from any list item? Can InfoPath pull data from an Excel sheet?

Thanks!