diff --git a/rdev.toml b/rdev.toml
index fb797f7eb..d4eb22405 100644
--- a/rdev.toml
+++ b/rdev.toml
@@ -11,20 +11,20 @@
 [py_versions]
 
 # Usually the same as wpilib_bin_version
-native = "2025.3.2"
+native = "2025.3.2.1"
 
 # Will eventually sync with native
 halsim_native = "2025.3.2.2"
 
 # Usually similar to native, but subminor version is bumped for bugfixes
 # - ./rdev.sh ci check_tag will fail if this doesn't match current tag
-wrapper = "2025.3.2.3"
+wrapper = "2025.3.2.4"
 
 [params]
 
-wpilib_bin_url = "https://frcmaven.wpi.edu/artifactory/release"
-wpilib_bin_version = "2025.3.2"
-#wpilib_bin_url = "https://frcmaven.wpi.edu/artifactory/development"
+# wpilib_bin_url = "https://frcmaven.wpi.edu/artifactory/release"
+wpilib_bin_version = "2025.3.2-54-g7a3df61"
+wpilib_bin_url = "https://frcmaven.wpi.edu/artifactory/development"
 
 # Don't update these maven artifacts
 exclude_artifacts = [
diff --git a/subprojects/pyntcore/pyproject.toml b/subprojects/pyntcore/pyproject.toml
index a58593324..d08f7cbeb 100644
--- a/subprojects/pyntcore/pyproject.toml
+++ b/subprojects/pyntcore/pyproject.toml
@@ -5,24 +5,24 @@ requires = [
     "hatch-meson~=0.1.0b2",
     "hatch-robotpy~=0.2",
     "hatchling",
-    "robotpy-native-ntcore==2025.3.2",
-    "robotpy-wpiutil==2025.3.2.3",
-    "robotpy-wpinet==2025.3.2.3",
+    "robotpy-native-ntcore==2025.3.2.1",
+    "robotpy-wpiutil==2025.3.2.4",
+    "robotpy-wpinet==2025.3.2.4",
 ]
 
 
 [project]
 name = "pyntcore"
-version = "2025.3.2.3"
+version = "2025.3.2.4"
 description = "Binary wrappers for the FRC ntcore library"
 authors = [
     {name = "RobotPy Development Team", email = "robotpy@googlegroups.com"},
 ]
 license = "BSD-3-Clause"
 dependencies = [
-    "robotpy-native-ntcore==2025.3.2",
-    "robotpy-wpiutil==2025.3.2.3",
-    "robotpy-wpinet==2025.3.2.3",
+    "robotpy-native-ntcore==2025.3.2.1",
+    "robotpy-wpiutil==2025.3.2.4",
+    "robotpy-wpinet==2025.3.2.4",
 ]
 
 [project.urls]
diff --git a/subprojects/robotpy-apriltag/pyproject.toml b/subprojects/robotpy-apriltag/pyproject.toml
index dcfcb0413..4ac196f76 100644
--- a/subprojects/robotpy-apriltag/pyproject.toml
+++ b/subprojects/robotpy-apriltag/pyproject.toml
@@ -5,23 +5,23 @@ requires = [
     "hatch-meson~=0.1.0b2",
     "hatch-robotpy~=0.2",
     "hatchling",
-    "robotpy-native-apriltag==2025.3.2",
-    "robotpy-wpiutil==2025.3.2.3",
-    "robotpy-wpimath==2025.3.2.3",
+    "robotpy-native-apriltag==2025.3.2.1",
+    "robotpy-wpiutil==2025.3.2.4",
+    "robotpy-wpimath==2025.3.2.4",
 ]
 
 [project]
 name = "robotpy-apriltag"
-version = "2025.3.2.3"
+version = "2025.3.2.4"
 description = "RobotPy bindings for WPILib's AprilTag library"
 authors = [
     {name = "RobotPy Development Team", email = "robotpy@googlegroups.com"},
 ]
 license = "BSD-3-Clause"
 dependencies = [
-    "robotpy-native-apriltag==2025.3.2",
-    "robotpy-wpiutil==2025.3.2.3",
-    "robotpy-wpimath==2025.3.2.3",
+    "robotpy-native-apriltag==2025.3.2.1",
+    "robotpy-wpiutil==2025.3.2.4",
+    "robotpy-wpimath==2025.3.2.4",
 ]
 
 [project.urls]
diff --git a/subprojects/robotpy-cscore/pyproject.toml b/subprojects/robotpy-cscore/pyproject.toml
index c2843be59..fb8021e6d 100644
--- a/subprojects/robotpy-cscore/pyproject.toml
+++ b/subprojects/robotpy-cscore/pyproject.toml
@@ -5,24 +5,24 @@ requires = [
     "hatch-meson~=0.1.0b2",
     "hatch-robotpy~=0.2",
     "hatchling",
-    "robotpy-wpiutil==2025.3.2.3",
-    "robotpy-wpinet==2025.3.2.3",
-    "pyntcore==2025.3.2.3",
+    "robotpy-wpiutil==2025.3.2.4",
+    "robotpy-wpinet==2025.3.2.4",
+    "pyntcore==2025.3.2.4",
     # "numpy", # required for pybind11-stubgen to not complain, broken in raspbian CI
 ]
 
 [project]
 name = "robotpy-cscore"
-version = "2025.3.2.3"
+version = "2025.3.2.4"
 description = "RobotPy bindings for cscore image processing library"
 authors = [
     {name = "RobotPy Development Team", email = "robotpy@googlegroups.com"},
 ]
 license = "BSD-3-Clause"
 dependencies = [
-    "robotpy-wpiutil==2025.3.2.3",
-    "robotpy-wpinet==2025.3.2.3",
-    "pyntcore==2025.3.2.3",
+    "robotpy-wpiutil==2025.3.2.4",
+    "robotpy-wpinet==2025.3.2.4",
+    "pyntcore==2025.3.2.4",
 ]
 
 [project.urls]
@@ -43,8 +43,8 @@ version_file = "cscore/version.py"
 [[tool.hatch.build.hooks.robotpy.maven_lib_download]]
 artifact_id = "cscore-cpp"
 group_id = "edu.wpi.first.cscore"
-repo_url = "https://frcmaven.wpi.edu/artifactory/release"
-version = "2025.3.2"
+repo_url = "https://frcmaven.wpi.edu/artifactory/development"
+version = "2025.3.2-54-g7a3df61"
 
 staticlibs = ["cscore"]
 extract_to = "lib"
@@ -52,8 +52,8 @@ extract_to = "lib"
 [[tool.hatch.build.hooks.robotpy.maven_lib_download]]
 artifact_id = "cameraserver-cpp"
 group_id = "edu.wpi.first.cameraserver"
-repo_url = "https://frcmaven.wpi.edu/artifactory/release"
-version = "2025.3.2"
+repo_url = "https://frcmaven.wpi.edu/artifactory/development"
+version = "2025.3.2-54-g7a3df61"
 
 staticlibs = ["cameraserver"]
 extract_to = "lib"
diff --git a/subprojects/robotpy-hal/pyproject.toml b/subprojects/robotpy-hal/pyproject.toml
index 77f2186e6..87a2085d1 100644
--- a/subprojects/robotpy-hal/pyproject.toml
+++ b/subprojects/robotpy-hal/pyproject.toml
@@ -4,21 +4,21 @@ requires = [
     "semiwrap~=0.1.2",
     "hatch-meson~=0.1.0b2",
     "hatchling",
-    "robotpy-native-wpihal==2025.3.2",
-    "robotpy-wpiutil==2025.3.2.3",
+    "robotpy-native-wpihal==2025.3.2.1",
+    "robotpy-wpiutil==2025.3.2.4",
 ]
 
 [project]
 name = "robotpy-hal"
-version = "2025.3.2.3"
+version = "2025.3.2.4"
 description = "Binary wrapper for FRC HAL"
 authors = [
     {name = "RobotPy Development Team", email = "robotpy@googlegroups.com"},
 ]
 license = "BSD-3-Clause"
 dependencies = [
-    "robotpy-native-wpihal==2025.3.2",
-    "robotpy-wpiutil==2025.3.2.3",
+    "robotpy-native-wpihal==2025.3.2.1",
+    "robotpy-wpiutil==2025.3.2.4",
 ]
 
 [project.urls]
diff --git a/subprojects/robotpy-halsim-ds-socket/pyproject.toml b/subprojects/robotpy-halsim-ds-socket/pyproject.toml
index 32ccd891f..1dedf3db0 100644
--- a/subprojects/robotpy-halsim-ds-socket/pyproject.toml
+++ b/subprojects/robotpy-halsim-ds-socket/pyproject.toml
@@ -14,8 +14,8 @@ authors = [
 ]
 license = "BSD-3-Clause"
 dependencies = [
-    "robotpy-native-wpihal==2025.3.2",
-    "robotpy-native-wpinet==2025.3.2",
+    "robotpy-native-wpihal==2025.3.2.1",
+    "robotpy-native-wpinet==2025.3.2.1",
 ]
 
 [project.entry-points.robotpysimext]
@@ -28,8 +28,8 @@ version_file = "halsim_ds_socket/version.py"
 [[tool.hatch.build.hooks.robotpy.maven_lib_download]]
 artifact_id = "halsim_ds_socket"
 group_id = "edu.wpi.first.halsim"
-repo_url = "https://frcmaven.wpi.edu/artifactory/release"
-version = "2025.3.2"
+repo_url = "https://frcmaven.wpi.edu/artifactory/development"
+version = "2025.3.2-54-g7a3df61"
 use_headers = false
 
 extract_to = "halsim_ds_socket"
diff --git a/subprojects/robotpy-halsim-gui/pyproject.toml b/subprojects/robotpy-halsim-gui/pyproject.toml
index e219770ea..c98b84158 100644
--- a/subprojects/robotpy-halsim-gui/pyproject.toml
+++ b/subprojects/robotpy-halsim-gui/pyproject.toml
@@ -5,25 +5,25 @@ requires = [
     "hatch-meson~=0.1.0b2",
     "hatch-robotpy~=0.2",
     "hatchling",
-    "robotpy-wpiutil==2025.3.2.3",
-    "robotpy-wpimath==2025.3.2.3",
-    "robotpy-hal==2025.3.2.3",
-    "pyntcore==2025.3.2.3",
+    "robotpy-wpiutil==2025.3.2.4",
+    "robotpy-wpimath==2025.3.2.4",
+    "robotpy-hal==2025.3.2.4",
+    "pyntcore==2025.3.2.4",
 ]
 
 [project]
 name = "robotpy-halsim-gui"
-version = "2025.3.2.3"
+version = "2025.3.2.4"
 description = "WPILib simulation GUI"
 authors = [
     {name = "RobotPy Development Team", email = "robotpy@googlegroups.com"},
 ]
 license = "BSD-3-Clause"
 dependencies = [
-    "robotpy-wpiutil==2025.3.2.3",
-    "robotpy-wpimath==2025.3.2.3",
-    "robotpy-hal==2025.3.2.3",
-    "pyntcore==2025.3.2.3",
+    "robotpy-wpiutil==2025.3.2.4",
+    "robotpy-wpimath==2025.3.2.4",
+    "robotpy-hal==2025.3.2.4",
+    "pyntcore==2025.3.2.4",
 ]
 
 [project.urls]
@@ -36,8 +36,8 @@ version_file = "halsim_gui/version.py"
 [[tool.hatch.build.hooks.robotpy.maven_lib_download]]
 artifact_id = "halsim_gui"
 group_id = "edu.wpi.first.halsim"
-repo_url = "https://frcmaven.wpi.edu/artifactory/release"
-version = "2025.3.2"
+repo_url = "https://frcmaven.wpi.edu/artifactory/development"
+version = "2025.3.2-54-g7a3df61"
 use_headers = true
 
 libs = ["halsim_gui"]
diff --git a/subprojects/robotpy-halsim-ws/pyproject.toml b/subprojects/robotpy-halsim-ws/pyproject.toml
index 1dd5a23df..fca1263a4 100644
--- a/subprojects/robotpy-halsim-ws/pyproject.toml
+++ b/subprojects/robotpy-halsim-ws/pyproject.toml
@@ -14,8 +14,8 @@ authors = [
 ]
 license = "BSD-3-Clause"
 dependencies = [
-    "robotpy-native-wpihal==2025.3.2",
-    "robotpy-native-wpinet==2025.3.2",
+    "robotpy-native-wpihal==2025.3.2.1",
+    "robotpy-native-wpinet==2025.3.2.1",
 ]
 
 [project.entry-points.robotpysimext]
@@ -33,8 +33,8 @@ version_file = "halsim_ws/version.py"
 [[tool.hatch.build.hooks.robotpy.maven_lib_download]]
 artifact_id = "halsim_ws_server"
 group_id = "edu.wpi.first.halsim"
-repo_url = "https://frcmaven.wpi.edu/artifactory/release"
-version = "2025.3.2"
+repo_url = "https://frcmaven.wpi.edu/artifactory/development"
+version = "2025.3.2-54-g7a3df61"
 use_headers = false
 
 extract_to = "halsim_ws/server"
@@ -43,8 +43,8 @@ libs = ["halsim_ws_server"]
 [[tool.hatch.build.hooks.robotpy.maven_lib_download]]
 artifact_id = "halsim_ws_client"
 group_id = "edu.wpi.first.halsim"
-repo_url = "https://frcmaven.wpi.edu/artifactory/release"
-version = "2025.3.2"
+repo_url = "https://frcmaven.wpi.edu/artifactory/development"
+version = "2025.3.2-54-g7a3df61"
 use_headers = false
 
 extract_to = "halsim_ws/client"
diff --git a/subprojects/robotpy-native-apriltag/pyproject.toml b/subprojects/robotpy-native-apriltag/pyproject.toml
index 6d0f88fc8..598638069 100644
--- a/subprojects/robotpy-native-apriltag/pyproject.toml
+++ b/subprojects/robotpy-native-apriltag/pyproject.toml
@@ -4,19 +4,19 @@ requires = [
     "hatchling",
     "hatch-nativelib~=0.2.0",
     "hatch-robotpy~=0.2",
-    "robotpy-native-wpiutil==2025.3.2",
-    "robotpy-native-wpimath==2025.3.2",
+    "robotpy-native-wpiutil==2025.3.2.1",
+    "robotpy-native-wpimath==2025.3.2.1",
 ]
 
 [project]
 name = "robotpy-native-apriltag"
-version = "2025.3.2"
+version = "2025.3.2.1"
 description = "WPILib AprilTag Library"
 license = "BSD-3-Clause"
 
 dependencies = [
-    "robotpy-native-wpiutil==2025.3.2",
-    "robotpy-native-wpimath==2025.3.2",
+    "robotpy-native-wpiutil==2025.3.2.1",
+    "robotpy-native-wpimath==2025.3.2.1",
 ]
 
 [tool.hatch.build.targets.wheel]
@@ -25,8 +25,8 @@ packages = ["src/native"]
 [[tool.hatch.build.hooks.robotpy.maven_lib_download]]
 artifact_id = "apriltag-cpp"
 group_id = "edu.wpi.first.apriltag"
-repo_url = "https://frcmaven.wpi.edu/artifactory/release"
-version = "2025.3.2"
+repo_url = "https://frcmaven.wpi.edu/artifactory/development"
+version = "2025.3.2-54-g7a3df61"
 
 extract_to = "src/native/apriltag"
 libs = ["apriltag"]
diff --git a/subprojects/robotpy-native-ntcore/pyproject.toml b/subprojects/robotpy-native-ntcore/pyproject.toml
index 83f83e7b5..43d6b54a5 100644
--- a/subprojects/robotpy-native-ntcore/pyproject.toml
+++ b/subprojects/robotpy-native-ntcore/pyproject.toml
@@ -4,19 +4,19 @@ requires = [
     "hatchling",
     "hatch-nativelib~=0.2.0",
     "hatch-robotpy~=0.2",
-    "robotpy-native-wpiutil==2025.3.2",
-    "robotpy-native-wpinet==2025.3.2",
+    "robotpy-native-wpiutil==2025.3.2.1",
+    "robotpy-native-wpinet==2025.3.2.1",
 ]
 
 [project]
 name = "robotpy-native-ntcore"
-version = "2025.3.2"
+version = "2025.3.2.1"
 description = "WPILib NetworkTables Library"
 license = "BSD-3-Clause"
 
 dependencies = [
-    "robotpy-native-wpiutil==2025.3.2",
-    "robotpy-native-wpinet==2025.3.2",
+    "robotpy-native-wpiutil==2025.3.2.1",
+    "robotpy-native-wpinet==2025.3.2.1",
 ]
 
 [tool.hatch.build.targets.wheel]
@@ -25,8 +25,8 @@ packages = ["src/native"]
 [[tool.hatch.build.hooks.robotpy.maven_lib_download]]
 artifact_id = "ntcore-cpp"
 group_id = "edu.wpi.first.ntcore"
-repo_url = "https://frcmaven.wpi.edu/artifactory/release"
-version = "2025.3.2"
+repo_url = "https://frcmaven.wpi.edu/artifactory/development"
+version = "2025.3.2-54-g7a3df61"
 
 extract_to = "src/native/ntcore"
 libs = ["ntcore"]
diff --git a/subprojects/robotpy-native-romi/pyproject.toml b/subprojects/robotpy-native-romi/pyproject.toml
index 476883671..1c54201f8 100644
--- a/subprojects/robotpy-native-romi/pyproject.toml
+++ b/subprojects/robotpy-native-romi/pyproject.toml
@@ -4,17 +4,17 @@ requires = [
     "hatchling",
     "hatch-nativelib~=0.2.0",
     "hatch-robotpy~=0.2",
-    "robotpy-native-wpilib==2025.3.2",
+    "robotpy-native-wpilib==2025.3.2.1",
 ]
 
 [project]
 name = "robotpy-native-romi"
-version = "2025.3.2"
+version = "2025.3.2.1"
 description = "WPILib Romi support library"
 license = "BSD-3-Clause"
 
 dependencies = [
-    "robotpy-native-wpilib==2025.3.2",
+    "robotpy-native-wpilib==2025.3.2.1",
 ]
 
 [tool.hatch.build.targets.wheel]
@@ -23,8 +23,8 @@ packages = ["src/native"]
 [[tool.hatch.build.hooks.robotpy.maven_lib_download]]
 artifact_id = "romiVendordep-cpp"
 group_id = "edu.wpi.first.romiVendordep"
-repo_url = "https://frcmaven.wpi.edu/artifactory/release"
-version = "2025.3.2"
+repo_url = "https://frcmaven.wpi.edu/artifactory/development"
+version = "2025.3.2-54-g7a3df61"
 
 extract_to = "src/native/romi"
 libs = ["romiVendordep"]
diff --git a/subprojects/robotpy-native-wpihal/pyproject.toml b/subprojects/robotpy-native-wpihal/pyproject.toml
index 0ee6480eb..1367f5f4e 100644
--- a/subprojects/robotpy-native-wpihal/pyproject.toml
+++ b/subprojects/robotpy-native-wpihal/pyproject.toml
@@ -4,17 +4,17 @@ requires = [
     "hatchling",
     "hatch-nativelib~=0.2.0",
     "hatch-robotpy~=0.2",
-    "robotpy-native-wpiutil==2025.3.2",
+    "robotpy-native-wpiutil==2025.3.2.1",
 ]
 
 [project]
 name = "robotpy-native-wpihal"
-version = "2025.3.2"
+version = "2025.3.2.1"
 description = "WPILib HAL implementation"
 license = "BSD-3-Clause"
 
 dependencies = [
-    "robotpy-native-wpiutil==2025.3.2",
+    "robotpy-native-wpiutil==2025.3.2.1",
 ]
 
 [tool.hatch.build.targets.wheel]
@@ -23,8 +23,8 @@ packages = ["src/native"]
 [[tool.hatch.build.hooks.robotpy.maven_lib_download]]
 artifact_id = "hal-cpp"
 group_id = "edu.wpi.first.hal"
-repo_url = "https://frcmaven.wpi.edu/artifactory/release"
-version = "2025.3.2"
+repo_url = "https://frcmaven.wpi.edu/artifactory/development"
+version = "2025.3.2-54-g7a3df61"
 
 extract_to = "src/native/wpihal"
 libs = ["wpiHal"]
diff --git a/subprojects/robotpy-native-wpilib/pyproject.toml b/subprojects/robotpy-native-wpilib/pyproject.toml
index 9a418fa63..6c1bdf63e 100644
--- a/subprojects/robotpy-native-wpilib/pyproject.toml
+++ b/subprojects/robotpy-native-wpilib/pyproject.toml
@@ -4,25 +4,25 @@ requires = [
     "hatchling",
     "hatch-nativelib~=0.2.0",
     "hatch-robotpy~=0.2",
-    "robotpy-native-wpiutil==2025.3.2",
-    "robotpy-native-wpinet==2025.3.2",
-    "robotpy-native-ntcore==2025.3.2",
-    "robotpy-native-wpimath==2025.3.2",
-    "robotpy-native-wpihal==2025.3.2",
+    "robotpy-native-wpiutil==2025.3.2.1",
+    "robotpy-native-wpinet==2025.3.2.1",
+    "robotpy-native-ntcore==2025.3.2.1",
+    "robotpy-native-wpimath==2025.3.2.1",
+    "robotpy-native-wpihal==2025.3.2.1",
 ]
 
 [project]
 name = "robotpy-native-wpilib"
-version = "2025.3.2"
+version = "2025.3.2.1"
 description = "WPILib Robotics Library"
 license = "BSD-3-Clause"
 
 dependencies = [
-    "robotpy-native-wpiutil==2025.3.2",
-    "robotpy-native-wpinet==2025.3.2",
-    "robotpy-native-ntcore==2025.3.2",
-    "robotpy-native-wpimath==2025.3.2",
-    "robotpy-native-wpihal==2025.3.2",
+    "robotpy-native-wpiutil==2025.3.2.1",
+    "robotpy-native-wpinet==2025.3.2.1",
+    "robotpy-native-ntcore==2025.3.2.1",
+    "robotpy-native-wpimath==2025.3.2.1",
+    "robotpy-native-wpihal==2025.3.2.1",
 ]
 
 [tool.hatch.build.targets.wheel]
@@ -31,8 +31,8 @@ packages = ["src/native"]
 [[tool.hatch.build.hooks.robotpy.maven_lib_download]]
 artifact_id = "wpilibc-cpp"
 group_id = "edu.wpi.first.wpilibc"
-repo_url = "https://frcmaven.wpi.edu/artifactory/release"
-version = "2025.3.2"
+repo_url = "https://frcmaven.wpi.edu/artifactory/development"
+version = "2025.3.2-54-g7a3df61"
 
 extract_to = "src/native/wpilib"
 libs = ["wpilibc"]
diff --git a/subprojects/robotpy-native-wpimath/pyproject.toml b/subprojects/robotpy-native-wpimath/pyproject.toml
index 72b8bcd3c..ab5861e4c 100644
--- a/subprojects/robotpy-native-wpimath/pyproject.toml
+++ b/subprojects/robotpy-native-wpimath/pyproject.toml
@@ -4,17 +4,17 @@ requires = [
     "hatchling",
     "hatch-nativelib~=0.2.0",
     "hatch-robotpy~=0.2",
-    "robotpy-native-wpiutil==2025.3.2",
+    "robotpy-native-wpiutil==2025.3.2.1",
 ]
 
 [project]
 name = "robotpy-native-wpimath"
-version = "2025.3.2"
+version = "2025.3.2.1"
 description = "WPILib Math Library"
 license = "BSD-3-Clause"
 
 dependencies = [
-    "robotpy-native-wpiutil==2025.3.2",
+    "robotpy-native-wpiutil==2025.3.2.1",
 ]
 
 [tool.hatch.build.targets.wheel]
@@ -23,8 +23,8 @@ packages = ["src/native"]
 [[tool.hatch.build.hooks.robotpy.maven_lib_download]]
 artifact_id = "wpimath-cpp"
 group_id = "edu.wpi.first.wpimath"
-repo_url = "https://frcmaven.wpi.edu/artifactory/release"
-version = "2025.3.2"
+repo_url = "https://frcmaven.wpi.edu/artifactory/development"
+version = "2025.3.2-54-g7a3df61"
 
 extract_to = "src/native/wpimath"
 libs = ["wpimath"]
diff --git a/subprojects/robotpy-native-wpinet/pyproject.toml b/subprojects/robotpy-native-wpinet/pyproject.toml
index ac928d9d1..79303109f 100644
--- a/subprojects/robotpy-native-wpinet/pyproject.toml
+++ b/subprojects/robotpy-native-wpinet/pyproject.toml
@@ -4,17 +4,17 @@ requires = [
     "hatchling",
     "hatch-nativelib~=0.2.0",
     "hatch-robotpy~=0.2",
-    "robotpy-native-wpiutil==2025.3.2",
+    "robotpy-native-wpiutil==2025.3.2.1",
 ]
 
 [project]
 name = "robotpy-native-wpinet"
-version = "2025.3.2"
+version = "2025.3.2.1"
 description = "WPILib Networking Library"
 license = "BSD-3-Clause"
 
 dependencies = [
-    "robotpy-native-wpiutil==2025.3.2",
+    "robotpy-native-wpiutil==2025.3.2.1",
 ]
 
 [tool.hatch.build.targets.wheel]
@@ -23,8 +23,8 @@ packages = ["src/native"]
 [[tool.hatch.build.hooks.robotpy.maven_lib_download]]
 artifact_id = "wpinet-cpp"
 group_id = "edu.wpi.first.wpinet"
-repo_url = "https://frcmaven.wpi.edu/artifactory/release"
-version = "2025.3.2"
+repo_url = "https://frcmaven.wpi.edu/artifactory/development"
+version = "2025.3.2-54-g7a3df61"
 
 extract_to = "src/native/wpinet"
 libs = ["wpinet"]
diff --git a/subprojects/robotpy-native-wpiutil/pyproject.toml b/subprojects/robotpy-native-wpiutil/pyproject.toml
index e0a6e6045..75a2ad1d4 100644
--- a/subprojects/robotpy-native-wpiutil/pyproject.toml
+++ b/subprojects/robotpy-native-wpiutil/pyproject.toml
@@ -8,7 +8,7 @@ requires = [
 
 [project]
 name = "robotpy-native-wpiutil"
-version = "2025.3.2"
+version = "2025.3.2.1"
 description = "WPILib Utility Library"
 license = "BSD-3-Clause"
 
@@ -22,8 +22,8 @@ packages = ["src/native"]
 [[tool.hatch.build.hooks.robotpy.maven_lib_download]]
 artifact_id = "wpiutil-cpp"
 group_id = "edu.wpi.first.wpiutil"
-repo_url = "https://frcmaven.wpi.edu/artifactory/release"
-version = "2025.3.2"
+repo_url = "https://frcmaven.wpi.edu/artifactory/development"
+version = "2025.3.2-54-g7a3df61"
 
 extract_to = "src/native/wpiutil"
 libs = ["wpiutil"]
diff --git a/subprojects/robotpy-native-xrp/pyproject.toml b/subprojects/robotpy-native-xrp/pyproject.toml
index 7499b4d60..554d76107 100644
--- a/subprojects/robotpy-native-xrp/pyproject.toml
+++ b/subprojects/robotpy-native-xrp/pyproject.toml
@@ -4,17 +4,17 @@ requires = [
     "hatchling",
     "hatch-nativelib~=0.2.0",
     "hatch-robotpy~=0.2",
-    "robotpy-native-wpilib==2025.3.2",
+    "robotpy-native-wpilib==2025.3.2.1",
 ]
 
 [project]
 name = "robotpy-native-xrp"
-version = "2025.3.2"
+version = "2025.3.2.1"
 description = "WPILib XRP vendor library"
 license = "BSD-3-Clause"
 
 dependencies = [
-    "robotpy-native-wpilib==2025.3.2",
+    "robotpy-native-wpilib==2025.3.2.1",
 ]
 
 [tool.hatch.build.targets.wheel]
@@ -23,8 +23,8 @@ packages = ["src/native"]
 [[tool.hatch.build.hooks.robotpy.maven_lib_download]]
 artifact_id = "xrpVendordep-cpp"
 group_id = "edu.wpi.first.xrpVendordep"
-repo_url = "https://frcmaven.wpi.edu/artifactory/release"
-version = "2025.3.2"
+repo_url = "https://frcmaven.wpi.edu/artifactory/development"
+version = "2025.3.2-54-g7a3df61"
 
 extract_to = "src/native/xrp"
 libs = ["xrpVendordep"]
diff --git a/subprojects/robotpy-romi/pyproject.toml b/subprojects/robotpy-romi/pyproject.toml
index 4566a43bc..c81b976fd 100644
--- a/subprojects/robotpy-romi/pyproject.toml
+++ b/subprojects/robotpy-romi/pyproject.toml
@@ -5,22 +5,22 @@ requires = [
     "hatch-meson~=0.1.0b2",
     "hatch-robotpy~=0.2",
     "hatchling",
-    "robotpy-native-romi==2025.3.2",
-    "wpilib==2025.3.2.3",
+    "robotpy-native-romi==2025.3.2.1",
+    "wpilib==2025.3.2.4",
 ]
 
 
 [project]
 name = "robotpy-romi"
-version = "2025.3.2.3"
+version = "2025.3.2.4"
 description = "Binary wrapper for WPILib Romi Vendor library"
 authors = [
     {name = "RobotPy Development Team", email = "robotpy@googlegroups.com"},
 ]
 license = "BSD-3-Clause"
 dependencies = [
-    "robotpy-native-romi==2025.3.2",
-    "wpilib==2025.3.2.3"
+    "robotpy-native-romi==2025.3.2.1",
+    "wpilib==2025.3.2.4"
 ]
 
 [project.urls]
diff --git a/subprojects/robotpy-wpilib/pyproject.toml b/subprojects/robotpy-wpilib/pyproject.toml
index 6b6621dfa..b70faf374 100644
--- a/subprojects/robotpy-wpilib/pyproject.toml
+++ b/subprojects/robotpy-wpilib/pyproject.toml
@@ -5,27 +5,27 @@ requires = [
     "hatch-meson~=0.1.0b2",
     "hatch-robotpy~=0.2",
     "hatchling",
-    "robotpy-native-wpilib==2025.3.2",
-    "robotpy-wpiutil==2025.3.2.3",
-    "robotpy-wpimath==2025.3.2.3",
-    "robotpy-hal==2025.3.2.3",
-    "pyntcore==2025.3.2.3",
+    "robotpy-native-wpilib==2025.3.2.1",
+    "robotpy-wpiutil==2025.3.2.4",
+    "robotpy-wpimath==2025.3.2.4",
+    "robotpy-hal==2025.3.2.4",
+    "pyntcore==2025.3.2.4",
 ]
 
 [project]
 name = "wpilib"
-version = "2025.3.2.3"
+version = "2025.3.2.4"
 description = "Binary wrapper for FRC WPILib"
 authors = [
     {name = "RobotPy Development Team", email = "robotpy@googlegroups.com"},
 ]
 license = "BSD-3-Clause"
 dependencies = [
-    "robotpy-native-wpilib==2025.3.2",
-    "robotpy-wpiutil==2025.3.2.3",
-    "robotpy-wpimath==2025.3.2.3",
-    "robotpy-hal==2025.3.2.3",
-    "pyntcore==2025.3.2.3",
+    "robotpy-native-wpilib==2025.3.2.1",
+    "robotpy-wpiutil==2025.3.2.4",
+    "robotpy-wpimath==2025.3.2.4",
+    "robotpy-hal==2025.3.2.4",
+    "pyntcore==2025.3.2.4",
     "robotpy-cli~=2024.0b"
 ]
 
diff --git a/subprojects/robotpy-wpimath/pyproject.toml b/subprojects/robotpy-wpimath/pyproject.toml
index ed29e3354..5fbdf70ee 100644
--- a/subprojects/robotpy-wpimath/pyproject.toml
+++ b/subprojects/robotpy-wpimath/pyproject.toml
@@ -5,22 +5,22 @@ requires = [
     "hatch-meson~=0.1.0b2",
     "hatch-robotpy~=0.2",
     "hatchling",
-    "robotpy-native-wpimath==2025.3.2",
-    "robotpy-wpiutil==2025.3.2.3",
+    "robotpy-native-wpimath==2025.3.2.1",
+    "robotpy-wpiutil==2025.3.2.4",
     # "numpy", # broken in raspbian CI
 ]
 
 [project]
 name = "robotpy-wpimath"
-version = "2025.3.2.3"
+version = "2025.3.2.4"
 description = "Binary wrapper for FRC WPIMath library"
 authors = [
     {name = "RobotPy Development Team", email = "robotpy@googlegroups.com"},
 ]
 license = "BSD-3-Clause"
 dependencies = [
-    "robotpy-native-wpimath==2025.3.2",
-    "robotpy-wpiutil==2025.3.2.3",
+    "robotpy-native-wpimath==2025.3.2.1",
+    "robotpy-wpiutil==2025.3.2.4",
 ]
 
 [project.urls]
diff --git a/subprojects/robotpy-wpimath/semiwrap/controls/TrapezoidProfile.yml b/subprojects/robotpy-wpimath/semiwrap/controls/TrapezoidProfile.yml
index 3d70fcebe..adaef7e8a 100644
--- a/subprojects/robotpy-wpimath/semiwrap/controls/TrapezoidProfile.yml
+++ b/subprojects/robotpy-wpimath/semiwrap/controls/TrapezoidProfile.yml
@@ -77,7 +77,8 @@ classes:
               maxAcceleration_:
                 name: maxAcceleration
                 default: '0'
-    template_inline_code: |
+    inline_code: |
+      ;
       {
       std::string clsNameCopy = clsName;
 
diff --git a/subprojects/robotpy-wpimath/tests/trajectory/test_trapezoidal_profile.py b/subprojects/robotpy-wpimath/tests/trajectory/test_trapezoidal_profile.py
new file mode 100644
index 000000000..c77961135
--- /dev/null
+++ b/subprojects/robotpy-wpimath/tests/trajectory/test_trapezoidal_profile.py
@@ -0,0 +1,176 @@
+# Copyright (c) FIRST and other WPILib contributors.
+# Open Source Software; you can modify and/or share it under the terms of
+# the WPILib BSD license file in the root directory of this project.
+
+
+import math
+
+from wpimath.trajectory import TrapezoidProfile
+
+kDt = 0.01  # 10 ms
+
+
+def test_reaches_goal():
+    constraints = TrapezoidProfile.Constraints(1.75, 0.75)
+    goal = TrapezoidProfile.State(3.0, 0.0)
+    state = TrapezoidProfile.State()
+
+    profile = TrapezoidProfile(constraints)
+    for _ in range(450):
+        state = profile.calculate(kDt, state, goal)
+    assert state == goal
+
+
+def test_pos_continuous_under_vel_change():
+    constraints = TrapezoidProfile.Constraints(1.75, 0.75)
+    goal = TrapezoidProfile.State(12.0, 0.0)
+    profile = TrapezoidProfile(constraints)
+    state = profile.calculate(kDt, TrapezoidProfile.State(), goal)
+
+    last_pos = state.position
+    for i in range(1600):
+        if i == 400:
+            constraints = TrapezoidProfile.Constraints(0.75, 0.75)
+            profile = TrapezoidProfile(constraints)
+
+        state = profile.calculate(kDt, state, goal)
+        estimated_vel = (state.position - last_pos) / kDt
+
+        if i >= 400:
+            if estimated_vel <= constraints.maxVelocity:
+                assert estimated_vel <= constraints.maxVelocity
+            else:
+                assert math.isclose(
+                    estimated_vel, constraints.maxVelocity, abs_tol=1e-4
+                )
+            assert state.velocity <= constraints.maxVelocity
+
+        last_pos = state.position
+
+    assert state == goal
+
+
+def test_backwards():
+    constraints = TrapezoidProfile.Constraints(0.75, 0.75)
+    goal = TrapezoidProfile.State(-2.0, 0.0)
+    state = TrapezoidProfile.State()
+    profile = TrapezoidProfile(constraints)
+
+    for _ in range(400):
+        state = profile.calculate(kDt, state, goal)
+    assert state == goal
+
+
+def test_switch_goal_in_middle():
+    constraints = TrapezoidProfile.Constraints(0.75, 0.75)
+    goal = TrapezoidProfile.State(-2.0, 0.0)
+    state = TrapezoidProfile.State()
+    profile = TrapezoidProfile(constraints)
+
+    for _ in range(200):
+        state = profile.calculate(kDt, state, goal)
+    assert state != goal
+
+    goal = TrapezoidProfile.State(0.0, 0.0)
+    profile = TrapezoidProfile(constraints)
+    for _ in range(550):
+        state = profile.calculate(kDt, state, goal)
+    assert state == goal
+
+
+def test_top_speed():
+    constraints = TrapezoidProfile.Constraints(0.75, 0.75)
+    goal = TrapezoidProfile.State(4.0, 0.0)
+    state = TrapezoidProfile.State()
+    profile = TrapezoidProfile(constraints)
+
+    for _ in range(200):
+        state = profile.calculate(kDt, state, goal)
+    assert math.isclose(constraints.maxVelocity, state.velocity, abs_tol=1e-4)
+
+    profile = TrapezoidProfile(constraints)
+    for _ in range(2000):
+        state = profile.calculate(kDt, state, goal)
+    assert state == goal
+
+
+def test_timing_to_current():
+    constraints = TrapezoidProfile.Constraints(0.75, 0.75)
+    goal = TrapezoidProfile.State(2.0, 0.0)
+    state = TrapezoidProfile.State()
+    profile = TrapezoidProfile(constraints)
+
+    for _ in range(400):
+        state = profile.calculate(kDt, state, goal)
+        assert math.isclose(profile.timeLeftUntil(state.position), 0.0, abs_tol=0.02)
+
+
+def test_timing_to_goal():
+    constraints = TrapezoidProfile.Constraints(0.75, 0.75)
+    goal = TrapezoidProfile.State(2.0, 0.0)
+    profile = TrapezoidProfile(constraints)
+
+    state = profile.calculate(kDt, goal, TrapezoidProfile.State())
+    predicted_time_left = profile.timeLeftUntil(goal.position)
+
+    reached_goal = False
+    for i in range(400):
+        state = profile.calculate(kDt, state, goal)
+        if not reached_goal and state == goal:
+            assert math.isclose(predicted_time_left, i * kDt, abs_tol=0.25)
+            reached_goal = True
+
+
+def test_timing_before_goal():
+    constraints = TrapezoidProfile.Constraints(0.75, 0.75)
+    goal = TrapezoidProfile.State(2.0, 0.0)
+    profile = TrapezoidProfile(constraints)
+
+    state = profile.calculate(kDt, goal, TrapezoidProfile.State())
+    predicted_time_left = profile.timeLeftUntil(1.0)
+
+    reached_goal = False
+    for i in range(400):
+        state = profile.calculate(kDt, state, goal)
+        if not reached_goal and abs(state.velocity - 1.0) < 1e-4:
+            assert math.isclose(predicted_time_left, i * kDt, abs_tol=0.02)
+            reached_goal = True
+
+
+def test_timing_to_negative_goal():
+    constraints = TrapezoidProfile.Constraints(0.75, 0.75)
+    goal = TrapezoidProfile.State(-2.0, 0.0)
+    profile = TrapezoidProfile(constraints)
+
+    state = profile.calculate(kDt, goal, TrapezoidProfile.State())
+    predicted_time_left = profile.timeLeftUntil(goal.position)
+
+    reached_goal = False
+    for i in range(400):
+        state = profile.calculate(kDt, state, goal)
+        if not reached_goal and state == goal:
+            assert math.isclose(predicted_time_left, i * kDt, abs_tol=0.25)
+            reached_goal = True
+
+
+def test_timing_before_negative_goal():
+    constraints = TrapezoidProfile.Constraints(0.75, 0.75)
+    goal = TrapezoidProfile.State(-2.0, 0.0)
+    profile = TrapezoidProfile(constraints)
+
+    state = profile.calculate(kDt, goal, TrapezoidProfile.State())
+    predicted_time_left = profile.timeLeftUntil(-1.0)
+
+    reached_goal = False
+    for i in range(400):
+        state = profile.calculate(kDt, state, goal)
+        if not reached_goal and abs(state.velocity + 1.0) < 1e-4:
+            assert math.isclose(predicted_time_left, i * kDt, abs_tol=0.02)
+            reached_goal = True
+
+
+def test_initialization_of_current_state():
+    constraints = TrapezoidProfile.Constraints(1.0, 1.0)
+    profile = TrapezoidProfile(constraints)
+    assert math.isclose(profile.timeLeftUntil(0.0), 0.0, abs_tol=1e-10)
+    assert math.isclose(profile.totalTime(), 0.0, abs_tol=1e-10)
diff --git a/subprojects/robotpy-wpinet/pyproject.toml b/subprojects/robotpy-wpinet/pyproject.toml
index a31ffa3d0..abcd2eebc 100644
--- a/subprojects/robotpy-wpinet/pyproject.toml
+++ b/subprojects/robotpy-wpinet/pyproject.toml
@@ -4,21 +4,21 @@ requires = [
     "semiwrap~=0.1.2",
     "hatch-meson~=0.1.0b2",
     "hatchling",
-    "robotpy-native-wpinet==2025.3.2",
-    "robotpy-wpiutil==2025.3.2.3"
+    "robotpy-native-wpinet==2025.3.2.1",
+    "robotpy-wpiutil==2025.3.2.4"
 ]
 
 [project]
 name = "robotpy-wpinet"
-version = "2025.3.2.3"
+version = "2025.3.2.4"
 description = "Binary wrapper for FRC wpinet library"
 authors = [
     {name = "RobotPy Development Team", email = "robotpy@googlegroups.com"},
 ]
 license = "BSD-3-Clause"
 dependencies = [
-    "robotpy-native-wpinet==2025.3.2",
-    "robotpy-wpiutil==2025.3.2.3"
+    "robotpy-native-wpinet==2025.3.2.1",
+    "robotpy-wpiutil==2025.3.2.4"
 ]
 
 [project.urls]
diff --git a/subprojects/robotpy-wpiutil/pyproject.toml b/subprojects/robotpy-wpiutil/pyproject.toml
index 179d7412e..fd5a7642b 100644
--- a/subprojects/robotpy-wpiutil/pyproject.toml
+++ b/subprojects/robotpy-wpiutil/pyproject.toml
@@ -5,19 +5,19 @@ requires = [
     "hatch-meson~=0.1.0b2",
     "hatch-robotpy~=0.2",
     "hatchling",
-    "robotpy-native-wpiutil==2025.3.2",
+    "robotpy-native-wpiutil==2025.3.2.1",
 ]
 
 [project]
 name = "robotpy-wpiutil"
-version = "2025.3.2.3"
+version = "2025.3.2.4"
 description = "Binary wrapper for FRC WPIUtil library"
 authors = [
     {name = "RobotPy Development Team", email = "robotpy@googlegroups.com"},
 ]
 license = "BSD-3-Clause"
 dependencies = [
-    "robotpy-native-wpiutil==2025.3.2",
+    "robotpy-native-wpiutil==2025.3.2.1",
 ]
 
 [project.urls]
diff --git a/subprojects/robotpy-xrp/pyproject.toml b/subprojects/robotpy-xrp/pyproject.toml
index 6f74edb9e..43807734c 100644
--- a/subprojects/robotpy-xrp/pyproject.toml
+++ b/subprojects/robotpy-xrp/pyproject.toml
@@ -5,22 +5,22 @@ requires = [
     "hatch-meson~=0.1.0b2",
     "hatch-robotpy~=0.2",
     "hatchling",
-    "robotpy-native-xrp==2025.3.2",
-    "wpilib==2025.3.2.3",
+    "robotpy-native-xrp==2025.3.2.1",
+    "wpilib==2025.3.2.4",
 ]
 
 
 [project]
 name = "robotpy-xrp"
-version = "2025.3.2.3"
+version = "2025.3.2.4"
 description = "Binary wrapper for WPILib XRP Vendor library"
 authors = [
     {name = "RobotPy Development Team", email = "robotpy@googlegroups.com"},
 ]
 license = "BSD-3-Clause"
 dependencies = [
-    "robotpy-native-xrp==2025.3.2",
-    "wpilib==2025.3.2.3"
+    "robotpy-native-xrp==2025.3.2.1",
+    "wpilib==2025.3.2.4"
 ]
 
 [project.entry-points.robotpysimext]
@@ -33,8 +33,8 @@ version_file = "xrp/version.py"
 [[tool.hatch.build.hooks.robotpy.maven_lib_download]]
 artifact_id = "halsim_xrp"
 group_id = "edu.wpi.first.halsim"
-repo_url = "https://frcmaven.wpi.edu/artifactory/release"
-version = "2025.3.2"
+repo_url = "https://frcmaven.wpi.edu/artifactory/development"
+version = "2025.3.2-54-g7a3df61"
 use_headers = false
 
 extract_to = "xrp/extension"