diff --git a/wpimath/src/main/java/edu/wpi/first/math/geometry/Pose3d.java b/wpimath/src/main/java/edu/wpi/first/math/geometry/Pose3d.java
index 67ed33fc7f..9e46ddb064 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/geometry/Pose3d.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/geometry/Pose3d.java
@@ -212,7 +212,7 @@ public class Pose3d implements Interpolatable<Pose3d> {
     double A;
     double B;
     double C;
-    if (Math.abs(theta) < 1E-8) {
+    if (Math.abs(theta) < 1E-7) {
       // Taylor Expansions around θ = 0
       // A = 1/1! - θ²/3! + θ⁴/5!
       // B = 1/2! - θ²/4! + θ⁴/6!
@@ -268,7 +268,7 @@ public class Pose3d implements Interpolatable<Pose3d> {
     final var thetaSq = theta * theta;
 
     double C;
-    if (Math.abs(theta) < 1E-8) {
+    if (Math.abs(theta) < 1E-7) {
       // Taylor Expansions around θ = 0
       // A = 1/1! - θ²/3! + θ⁴/5!
       // B = 1/2! - θ²/4! + θ⁴/6!
diff --git a/wpimath/src/main/native/cpp/geometry/Pose3d.cpp b/wpimath/src/main/native/cpp/geometry/Pose3d.cpp
index c17c08f035..d70a3419cb 100644
--- a/wpimath/src/main/native/cpp/geometry/Pose3d.cpp
+++ b/wpimath/src/main/native/cpp/geometry/Pose3d.cpp
@@ -82,7 +82,7 @@ Pose3d Pose3d::Exp(const Twist3d& twist) const {
   double A;
   double B;
   double C;
-  if (std::abs(theta) < 1E-8) {
+  if (std::abs(theta) < 1E-7) {
     // Taylor Expansions around θ = 0
     // A = 1/1! - θ²/3! + θ⁴/5!
     // B = 1/2! - θ²/4! + θ⁴/6!
@@ -134,7 +134,7 @@ Twist3d Pose3d::Log(const Pose3d& end) const {
   double thetaSq = theta * theta;
 
   double C;
-  if (std::abs(theta) < 1E-8) {
+  if (std::abs(theta) < 1E-7) {
     // Taylor Expansions around θ = 0
     // A = 1/1! - θ²/3! + θ⁴/5!
     // B = 1/2! - θ²/4! + θ⁴/6!
diff --git a/wpimath/src/test/java/edu/wpi/first/math/geometry/Pose3dTest.java b/wpimath/src/test/java/edu/wpi/first/math/geometry/Pose3dTest.java
index 272b3987bb..f59189d6a6 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/geometry/Pose3dTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/geometry/Pose3dTest.java
@@ -234,23 +234,39 @@ class Pose3dTest {
 
   @Test
   void testTwistNaN() {
-    var initialPose =
-        new Pose3d(
-            new Translation3d(6.32, 4.12, 0.00),
-            new Rotation3d(new Quaternion(-0.9999999999999999, 0.0, 0.0, 1.9208309264993548E-8)));
-    var finalPose =
-        new Pose3d(
-            new Translation3d(6.33, 4.15, 0.00),
-            new Rotation3d(new Quaternion(-0.9999999999999999, 0.0, 0.0, 2.416890209039172E-8)));
+    var initial_poses =
+        Arrays.asList(
+            new Pose3d(
+                new Translation3d(6.32, 4.12, 0.00),
+                new Rotation3d(
+                    new Quaternion(-0.9999999999999999, 0.0, 0.0, 1.9208309264993548E-8))),
+            new Pose3d(
+                new Translation3d(3.75, 2.95, 0.00),
+                new Rotation3d(
+                    new Quaternion(0.9999999999999793, 0.0, 0.0, 2.0352360299846772E-7))));
+    var final_poses =
+        Arrays.asList(
+            new Pose3d(
+                new Translation3d(6.33, 4.15, 0.00),
+                new Rotation3d(
+                    new Quaternion(-0.9999999999999999, 0.0, 0.0, 2.416890209039172E-8))),
+            new Pose3d(
+                new Translation3d(3.66, 2.93, 0.00),
+                new Rotation3d(
+                    new Quaternion(0.9999999999999782, 0.0, 0.0, 2.0859477994905617E-7))));
 
-    var twist = initialPose.log(finalPose);
+    for (int i = 0; i < initial_poses.size(); i++) {
+      var start = initial_poses.get(i);
+      var end = final_poses.get(i);
 
-    assertAll(
-        () -> assertFalse(((Double) twist.dx).isNaN()),
-        () -> assertFalse(((Double) twist.dy).isNaN()),
-        () -> assertFalse(((Double) twist.dz).isNaN()),
-        () -> assertFalse(((Double) twist.rx).isNaN()),
-        () -> assertFalse(((Double) twist.ry).isNaN()),
-        () -> assertFalse(((Double) twist.rz).isNaN()));
+      var twist = start.log(end);
+      assertAll(
+          () -> assertFalse(((Double) twist.dx).isNaN()),
+          () -> assertFalse(((Double) twist.dy).isNaN()),
+          () -> assertFalse(((Double) twist.dz).isNaN()),
+          () -> assertFalse(((Double) twist.rx).isNaN()),
+          () -> assertFalse(((Double) twist.ry).isNaN()),
+          () -> assertFalse(((Double) twist.rz).isNaN()));
+    }
   }
 }
diff --git a/wpimath/src/test/native/cpp/geometry/Pose3dTest.cpp b/wpimath/src/test/native/cpp/geometry/Pose3dTest.cpp
index d05518d5bb..b9702a3f41 100644
--- a/wpimath/src/test/native/cpp/geometry/Pose3dTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/Pose3dTest.cpp
@@ -149,19 +149,34 @@ TEST(Pose3dTest, ComplexTwists) {
 }
 
 TEST(Pose3dTest, TwistNaN) {
-  const Pose3d initial{6.32_m, 4.12_m, 0.00_m,
-                       Rotation3d{Quaternion{-0.9999999999999999, 0.0, 0.0,
-                                             1.9208309264993548E-8}}};
-  const Pose3d final{6.33_m, 4.15_m, 0.00_m,
-                     Rotation3d{Quaternion{-0.9999999999999999, 0.0, 0.0,
-                                           2.416890209039172E-8}}};
+  wpi::array<Pose3d, 2> initial_poses{
+      Pose3d{6.32_m, 4.12_m, 0.00_m,
+             Rotation3d{Quaternion{-0.9999999999999999, 0.0, 0.0,
+                                   1.9208309264993548E-8}}},
+      Pose3d{3.75_m, 2.95_m, 0.00_m,
+             Rotation3d{Quaternion{0.9999999999999793, 0.0, 0.0,
+                                   2.0352360299846772E-7}}},
+  };
 
-  auto twist = initial.Log(final);
+  wpi::array<Pose3d, 2> final_poses{
+      Pose3d{6.33_m, 4.15_m, 0.00_m,
+             Rotation3d{Quaternion{-0.9999999999999999, 0.0, 0.0,
+                                   2.416890209039172E-8}}},
+      Pose3d{3.66_m, 2.93_m, 0.00_m,
+             Rotation3d{Quaternion{0.9999999999999782, 0.0, 0.0,
+                                   2.0859477994905617E-7}}},
+  };
 
-  EXPECT_FALSE(std::isnan(twist.dx.value()));
-  EXPECT_FALSE(std::isnan(twist.dy.value()));
-  EXPECT_FALSE(std::isnan(twist.dz.value()));
-  EXPECT_FALSE(std::isnan(twist.rx.value()));
-  EXPECT_FALSE(std::isnan(twist.ry.value()));
-  EXPECT_FALSE(std::isnan(twist.rz.value()));
+  for (size_t i = 0; i < initial_poses.size(); i++) {
+    auto start = initial_poses[i];
+    auto end = final_poses[i];
+    auto twist = start.Log(end);
+
+    EXPECT_FALSE(std::isnan(twist.dx.value()));
+    EXPECT_FALSE(std::isnan(twist.dy.value()));
+    EXPECT_FALSE(std::isnan(twist.dz.value()));
+    EXPECT_FALSE(std::isnan(twist.rx.value()));
+    EXPECT_FALSE(std::isnan(twist.ry.value()));
+    EXPECT_FALSE(std::isnan(twist.rz.value()));
+  }
 }