diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipeline.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipeline.java
index f49aaab5d..4a17673c9 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipeline.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipeline.java
@@ -181,20 +181,13 @@ public class AprilTagPipeline extends CVPipeline<CVPipelineResult, AprilTagPipel
                                 new Transform3d(
                                         new Pose3d().plus(multiTagResult.estimatedPose.best), tagPose.get());
                         // match expected AprilTag coordinate system
-                        // TODO cleanup coordinate systems in wpilib 2024
-                        var apriltagTrl =
-                                CoordinateSystem.convert(
-                                        camToTag.getTranslation(), CoordinateSystem.NWU(), CoordinateSystem.EDN());
-                        var apriltagRot =
-                                CoordinateSystem.convert(
-                                                new Rotation3d(), CoordinateSystem.EDN(), CoordinateSystem.NWU())
-                                        .plus(
-                                                CoordinateSystem.convert(
-                                                        camToTag.getRotation(),
-                                                        CoordinateSystem.NWU(),
-                                                        CoordinateSystem.EDN()));
-                        apriltagRot = new Rotation3d(0, Math.PI, 0).plus(apriltagRot);
-                        camToTag = new Transform3d(apriltagTrl, apriltagRot);
+                        camToTag =
+                                CoordinateSystem.convert(camToTag, CoordinateSystem.NWU(), CoordinateSystem.EDN());
+                        // (AprilTag expects Z axis going into tag)
+                        camToTag =
+                                new Transform3d(
+                                        camToTag.getTranslation(),
+                                        new Rotation3d(0, Math.PI, 0).plus(camToTag.getRotation()));
                         tagPoseEstimate = new AprilTagPoseEstimate(camToTag, camToTag, 0, 0);
                     }
                 }
diff --git a/photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java b/photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java
index 7ee78a19b..1ad02b5b4 100644
--- a/photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java
+++ b/photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java
@@ -31,7 +31,6 @@ import edu.wpi.first.cscore.VideoSource.ConnectionStrategy;
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.Pair;
 import edu.wpi.first.math.geometry.Pose3d;
-import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.util.CombinedRuntimeLoader;
 import edu.wpi.first.util.WPIUtilJNI;
 import java.util.ArrayList;
@@ -49,6 +48,7 @@ import org.photonvision.PhotonCamera;
 import org.photonvision.PhotonTargetSortMode;
 import org.photonvision.common.dataflow.structures.Packet;
 import org.photonvision.common.networktables.NTTopicSet;
+import org.photonvision.estimation.CameraTargetRelation;
 import org.photonvision.estimation.OpenCVHelp;
 import org.photonvision.estimation.RotTrlTransform3d;
 import org.photonvision.estimation.TargetModel;
@@ -202,23 +202,16 @@ public class PhotonCameraSim implements AutoCloseable {
      * @return If this vision target can be seen before image projection.
      */
     public boolean canSeeTargetPose(Pose3d camPose, VisionTargetSim target) {
-        // var rel = new CameraTargetRelation(camPose, target.getPose());
-        // TODO: removal awaiting wpilib Rotation3d performance improvements
-        var relTarget = RotTrlTransform3d.makeRelativeTo(camPose).apply(target.getPose());
-        var camToTargYaw = new Rotation2d(relTarget.getX(), relTarget.getY());
-        var camToTargPitch =
-                new Rotation2d(Math.hypot(relTarget.getX(), relTarget.getY()), -relTarget.getZ());
-        var relCam = RotTrlTransform3d.makeRelativeTo(target.getPose()).apply(camPose);
-        var targToCamAngle = new Rotation2d(relCam.getX(), Math.hypot(relCam.getY(), relCam.getZ()));
+        var rel = new CameraTargetRelation(camPose, target.getPose());
 
         return (
         // target translation is outside of camera's FOV
-        (Math.abs(camToTargYaw.getDegrees()) < prop.getHorizFOV().getDegrees() / 2)
-                && (Math.abs(camToTargPitch.getDegrees()) < prop.getVertFOV().getDegrees() / 2)
+        (Math.abs(rel.camToTargYaw.getDegrees()) < prop.getHorizFOV().getDegrees() / 2)
+                && (Math.abs(rel.camToTargPitch.getDegrees()) < prop.getVertFOV().getDegrees() / 2)
                 && (!target.getModel().isPlanar
-                        || Math.abs(targToCamAngle.getDegrees())
+                        || Math.abs(rel.targToCamAngle.getDegrees())
                                 < 90) // camera is behind planar target and it should be occluded
-                && (relTarget.getTranslation().getNorm() <= maxSightRangeMeters)); // target is too far
+                && (rel.camToTarg.getTranslation().getNorm() <= maxSightRangeMeters)); // target is too far
     }
 
     /**
diff --git a/photon-targeting/src/main/java/org/photonvision/estimation/OpenCVHelp.java b/photon-targeting/src/main/java/org/photonvision/estimation/OpenCVHelp.java
index e7028d58c..1f3b8b976 100644
--- a/photon-targeting/src/main/java/org/photonvision/estimation/OpenCVHelp.java
+++ b/photon-targeting/src/main/java/org/photonvision/estimation/OpenCVHelp.java
@@ -49,8 +49,8 @@ import org.photonvision.targeting.PNPResults;
 import org.photonvision.targeting.TargetCorner;
 
 public final class OpenCVHelp {
-    private static RotTrlTransform3d NWU_TO_EDN;
-    private static RotTrlTransform3d EDN_TO_NWU;
+    private static Rotation3d NWU_TO_EDN;
+    private static Rotation3d EDN_TO_NWU;
 
     static {
         try {
@@ -59,18 +59,12 @@ public final class OpenCVHelp {
             throw new RuntimeException("Failed to load native libraries!", e);
         }
 
-        NWU_TO_EDN =
-                new RotTrlTransform3d(
-                        new Rotation3d(Matrix.mat(Nat.N3(), Nat.N3()).fill(0, -1, 0, 0, 0, -1, 1, 0, 0)),
-                        new Translation3d());
-        EDN_TO_NWU =
-                new RotTrlTransform3d(
-                        new Rotation3d(Matrix.mat(Nat.N3(), Nat.N3()).fill(0, 0, 1, -1, 0, 0, 0, -1, 0)),
-                        new Translation3d());
+        NWU_TO_EDN = new Rotation3d(Matrix.mat(Nat.N3(), Nat.N3()).fill(0, -1, 0, 0, 0, -1, 1, 0, 0));
+        EDN_TO_NWU = new Rotation3d(Matrix.mat(Nat.N3(), Nat.N3()).fill(0, 0, 1, -1, 0, 0, 0, -1, 0));
     }
 
     public static Mat matrixToMat(SimpleMatrix matrix) {
-        var mat = new Mat(matrix.numRows(), matrix.numCols(), CvType.CV_64F);
+        var mat = new Mat(matrix.getNumRows(), matrix.getNumCols(), CvType.CV_64F);
         mat.put(0, 0, matrix.getDDRM().getData());
         return mat;
     }
@@ -219,14 +213,12 @@ public final class OpenCVHelp {
         return reordered;
     }
 
-    // TODO: RotTrlTransform3d removal awaiting Rotation3d performance improvements
     /**
      * Convert a rotation delta from EDN to NWU. For example, if you have a rotation X,Y,Z {1, 0, 0}
      * in EDN, this would be {0, -1, 0} in NWU.
      */
     private static Rotation3d rotationEDNtoNWU(Rotation3d rot) {
-        return new RotTrlTransform3d(EDN_TO_NWU.apply(rot), new Translation3d())
-                .apply(EDN_TO_NWU.inverse().getRotation());
+        return EDN_TO_NWU.unaryMinus().plus(rot.plus(EDN_TO_NWU));
     }
 
     /**
@@ -234,8 +226,7 @@ public final class OpenCVHelp {
      * in NWU, this would be {0, 0, 1} in EDN.
      */
     private static Rotation3d rotationNWUtoEDN(Rotation3d rot) {
-        return new RotTrlTransform3d(NWU_TO_EDN.apply(rot), new Translation3d())
-                .apply(NWU_TO_EDN.inverse().getRotation());
+        return NWU_TO_EDN.unaryMinus().plus(rot.plus(NWU_TO_EDN));
     }
 
     /**
@@ -243,7 +234,7 @@ public final class OpenCVHelp {
      * in EDN, this would be {0, -1, 0} in NWU.
      */
     private static Translation3d translationEDNtoNWU(Translation3d trl) {
-        return EDN_TO_NWU.apply(trl);
+        return trl.rotateBy(EDN_TO_NWU);
     }
 
     /**
@@ -251,7 +242,7 @@ public final class OpenCVHelp {
      * in NWU, this would be {0, 0, 1} in EDN.
      */
     private static Translation3d translationNWUtoEDN(Translation3d trl) {
-        return NWU_TO_EDN.apply(trl);
+        return trl.rotateBy(NWU_TO_EDN);
     }
 
     /**
diff --git a/photon-targeting/src/main/java/org/photonvision/estimation/RotTrlTransform3d.java b/photon-targeting/src/main/java/org/photonvision/estimation/RotTrlTransform3d.java
index 2b79e920d..11bd52ff9 100644
--- a/photon-targeting/src/main/java/org/photonvision/estimation/RotTrlTransform3d.java
+++ b/photon-targeting/src/main/java/org/photonvision/estimation/RotTrlTransform3d.java
@@ -18,7 +18,6 @@
 package org.photonvision.estimation;
 
 import edu.wpi.first.math.geometry.Pose3d;
-import edu.wpi.first.math.geometry.Quaternion;
 import edu.wpi.first.math.geometry.Rotation3d;
 import edu.wpi.first.math.geometry.Transform3d;
 import edu.wpi.first.math.geometry.Translation3d;
@@ -31,11 +30,6 @@ import java.util.stream.Collectors;
 public class RotTrlTransform3d {
     private final Translation3d trl;
     private final Rotation3d rot;
-    // TODO: removal awaiting wpilib Rotation3d performance improvements
-    private double m_w;
-    private double m_x;
-    private double m_y;
-    private double m_z;
 
     /**
      * A rotation-translation transformation.
@@ -48,25 +42,12 @@ public class RotTrlTransform3d {
      */
     public RotTrlTransform3d(Rotation3d rot, Translation3d trl) {
         this.rot = rot;
-        var quat = rot.getQuaternion();
-        m_w = quat.getW();
-        m_x = quat.getX();
-        m_y = quat.getY();
-        m_z = quat.getZ();
         this.trl = trl;
     }
 
     public RotTrlTransform3d(Pose3d initial, Pose3d last) {
-        // this.rot = last.getRotation().minus(initial.getRotation());
-        // this.trl = last.getTranslation().minus(initial.getTranslation().rotateBy(rot));
-
-        var quat = initial.getRotation().getQuaternion();
-        m_w = quat.getW();
-        m_x = quat.getX();
-        m_y = quat.getY();
-        m_z = quat.getZ();
-        this.rot = invrotate(last.getRotation());
-        this.trl = last.getTranslation().minus(rotate(initial.getTranslation()));
+        this.rot = last.getRotation().minus(initial.getRotation());
+        this.trl = last.getTranslation().minus(initial.getTranslation().rotateBy(rot));
     }
 
     /**
@@ -85,38 +66,6 @@ public class RotTrlTransform3d {
         this(new Rotation3d(), new Translation3d());
     }
 
-    private Translation3d rotate(Translation3d otrl) {
-        final var p = new Quaternion(0.0, otrl.getX(), otrl.getY(), otrl.getZ());
-        final var qprime = times(times(p), new Quaternion(m_w, -m_x, -m_y, -m_z));
-        return new Translation3d(qprime.getX(), qprime.getY(), qprime.getZ());
-    }
-
-    private Translation3d invrotate(Translation3d otrl) {
-        m_x = -m_x;
-        m_y = -m_y;
-        m_z = -m_z;
-        var result = rotate(otrl);
-        m_x = -m_x;
-        m_y = -m_y;
-        m_z = -m_z;
-        return result;
-    }
-
-    private Rotation3d rotate(Rotation3d orot) {
-        return new Rotation3d(times(orot.getQuaternion()));
-    }
-
-    private Rotation3d invrotate(Rotation3d orot) {
-        m_x = -m_x;
-        m_y = -m_y;
-        m_z = -m_z;
-        var result = rotate(orot);
-        m_x = -m_x;
-        m_y = -m_y;
-        m_z = -m_z;
-        return result;
-    }
-
     /**
      * The rotation-translation transformation that makes poses in the world consider this pose as the
      * new origin, or change the basis to this pose.
@@ -129,12 +78,9 @@ public class RotTrlTransform3d {
 
     /** The inverse of this transformation. Applying the inverse will "undo" this transformation. */
     public RotTrlTransform3d inverse() {
-        // var inverseRot = rot.unaryMinus();
-        // var inverseTrl = trl.rotateBy(inverseRot).unaryMinus();
-        // return new RotTrlTransform3d(inverseRot, inverseTrl);
-
-        var inverseTrl = invrotate(trl).unaryMinus();
-        return new RotTrlTransform3d(new Rotation3d(new Quaternion(m_w, -m_x, -m_y, -m_z)), inverseTrl);
+        var inverseRot = rot.unaryMinus();
+        var inverseTrl = trl.rotateBy(inverseRot).unaryMinus();
+        return new RotTrlTransform3d(inverseRot, inverseTrl);
     }
 
     /** This transformation as a Transform3d (as if of the origin) */
@@ -153,8 +99,7 @@ public class RotTrlTransform3d {
     }
 
     public Translation3d apply(Translation3d trl) {
-        // return trl.rotateBy(rot).plus(this.trl);
-        return rotate(trl).plus(this.trl);
+        return trl.rotateBy(rot).plus(this.trl);
     }
 
     public List<Translation3d> applyTrls(List<Translation3d> trls) {
@@ -162,7 +107,7 @@ public class RotTrlTransform3d {
     }
 
     public Rotation3d apply(Rotation3d rot) {
-        return rotate(rot);
+        return rot.plus(this.rot);
     }
 
     public List<Rotation3d> applyRots(List<Rotation3d> rots) {
@@ -170,57 +115,10 @@ public class RotTrlTransform3d {
     }
 
     public Pose3d apply(Pose3d pose) {
-        // return new Pose3d(pose.getTranslation().rotateBy(rot).plus(trl),
-        // pose.getRotation().plus(rot));
         return new Pose3d(apply(pose.getTranslation()), apply(pose.getRotation()));
     }
 
     public List<Pose3d> applyPoses(List<Pose3d> poses) {
         return poses.stream().map(this::apply).collect(Collectors.toList());
     }
-
-    // TODO: removal awaiting wpilib Rotation3d performance improvements
-    private Quaternion times(Quaternion other) {
-        final double o_w = other.getW();
-        final double o_x = other.getX();
-        final double o_y = other.getY();
-        final double o_z = other.getZ();
-        return times(m_w, m_x, m_y, m_z, o_w, o_x, o_y, o_z);
-    }
-
-    private static Quaternion times(Quaternion a, Quaternion b) {
-        final double m_w = a.getW();
-        final double m_x = a.getX();
-        final double m_y = a.getY();
-        final double m_z = a.getZ();
-        final double o_w = b.getW();
-        final double o_x = b.getX();
-        final double o_y = b.getY();
-        final double o_z = b.getZ();
-        return times(m_w, m_x, m_y, m_z, o_w, o_x, o_y, o_z);
-    }
-
-    private static Quaternion times(
-            double m_w,
-            double m_x,
-            double m_y,
-            double m_z,
-            double o_w,
-            double o_x,
-            double o_y,
-            double o_z) {
-        // https://en.wikipedia.org/wiki/Quaternion#Scalar_and_vector_parts
-
-        // v₁ x v₂
-        final double cross_x = m_y * o_z - o_y * m_z;
-        final double cross_y = o_x * m_z - m_x * o_z;
-        final double cross_z = m_x * o_y - o_x * m_y;
-
-        // v = w₁v₂ + w₂v₁ + v₁ x v₂
-        final double new_x = o_x * m_w + (m_x * o_w) + cross_x;
-        final double new_y = o_y * m_w + (m_y * o_w) + cross_y;
-        final double new_z = o_z * m_w + (m_z * o_w) + cross_z;
-
-        return new Quaternion(m_w * o_w - (m_x * o_x + m_y * o_y + m_z * o_z), new_x, new_y, new_z);
-    }
 }