diff --git a/romiVendordep/src/main/python/semiwrap/OnBoardIO.yml b/romiVendordep/src/main/python/semiwrap/OnBoardIO.yml
index 3f94510d8e..12c28b5713 100644
--- a/romiVendordep/src/main/python/semiwrap/OnBoardIO.yml
+++ b/romiVendordep/src/main/python/semiwrap/OnBoardIO.yml
@@ -1,5 +1,5 @@
 classes:
-  wpi::OnBoardIO:
+  wpi::romi::OnBoardIO:
     attributes:
       kMessageInterval:
       m_nextMessageTime:
diff --git a/romiVendordep/src/main/python/semiwrap/RomiGyro.yml b/romiVendordep/src/main/python/semiwrap/RomiGyro.yml
index 246fba0e22..54092d5570 100644
--- a/romiVendordep/src/main/python/semiwrap/RomiGyro.yml
+++ b/romiVendordep/src/main/python/semiwrap/RomiGyro.yml
@@ -1,5 +1,5 @@
 classes:
-  wpi::RomiGyro:
+  wpi::romi::RomiGyro:
     methods:
       RomiGyro:
       GetAngle:
diff --git a/romiVendordep/src/main/python/semiwrap/RomiMotor.yml b/romiVendordep/src/main/python/semiwrap/RomiMotor.yml
index 34dbf5ee48..22af2f09a5 100644
--- a/romiVendordep/src/main/python/semiwrap/RomiMotor.yml
+++ b/romiVendordep/src/main/python/semiwrap/RomiMotor.yml
@@ -1,4 +1,4 @@
 classes:
-  wpi::RomiMotor:
+  wpi::romi::RomiMotor:
     methods:
       RomiMotor:
diff --git a/wpilibc/src/main/python/semiwrap/simulation/DifferentialDrivetrainSim.yml b/wpilibc/src/main/python/semiwrap/simulation/DifferentialDrivetrainSim.yml
index 16d7dcb62b..5ca862b02e 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/DifferentialDrivetrainSim.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/DifferentialDrivetrainSim.yml
@@ -6,8 +6,8 @@ classes:
     methods:
       DifferentialDrivetrainSim:
         overloads:
-          wpi::math::LinearSystem<2, 2, 2>, wpi::units::meter_t, wpi::math::DCMotor, double, wpi::units::meter_t, const std::array<double, 7>&:
-            param_override:
+          ? wpi::math::LinearSystem<2, 2, 2>, wpi::units::meter_t, wpi::math::DCMotor, double, wpi::units::meter_t, const std::array<double, 7>&
+          : param_override:
               measurementStdDevs:
                 default: std::array<double, 7>{}
           ? wpi::math::DCMotor, double, wpi::units::kilogram_square_meter_t, wpi::units::kilogram_t, wpi::units::meter_t, wpi::units::meter_t, const std::array<double, 7>&
diff --git a/wpimath/src/main/python/semiwrap/controls/DifferentialDriveAccelerationLimiter.yml b/wpimath/src/main/python/semiwrap/controls/DifferentialDriveAccelerationLimiter.yml
index 76ee6fa0e9..291fdea9c4 100644
--- a/wpimath/src/main/python/semiwrap/controls/DifferentialDriveAccelerationLimiter.yml
+++ b/wpimath/src/main/python/semiwrap/controls/DifferentialDriveAccelerationLimiter.yml
@@ -6,7 +6,8 @@ classes:
     methods:
       DifferentialDriveAccelerationLimiter:
         overloads:
-          LinearSystem<2, 2, 2>, wpi::units::meter_t, wpi::units::meters_per_second_squared_t, wpi::units::radians_per_second_squared_t:
+          ? LinearSystem<2, 2, 2>, wpi::units::meter_t, wpi::units::meters_per_second_squared_t, wpi::units::radians_per_second_squared_t
+          :
           ? LinearSystem<2, 2, 2>, wpi::units::meter_t, wpi::units::meters_per_second_squared_t, wpi::units::meters_per_second_squared_t, wpi::units::radians_per_second_squared_t
           :
       Calculate:
diff --git a/wpimath/src/main/python/semiwrap/controls/SwerveDrivePoseEstimator.yml b/wpimath/src/main/python/semiwrap/controls/SwerveDrivePoseEstimator.yml
index 774ead2191..05c75827e0 100644
--- a/wpimath/src/main/python/semiwrap/controls/SwerveDrivePoseEstimator.yml
+++ b/wpimath/src/main/python/semiwrap/controls/SwerveDrivePoseEstimator.yml
@@ -30,7 +30,8 @@ classes:
     methods:
       SwerveDrivePoseEstimator:
         overloads:
-          SwerveDriveKinematics<NumModules>&, const Rotation2d&, const wpi::util::array<SwerveModulePosition, NumModules>&, const Pose2d&:
+          ? SwerveDriveKinematics<NumModules>&, const Rotation2d&, const wpi::util::array<SwerveModulePosition, NumModules>&, const Pose2d&
+          :
           ? SwerveDriveKinematics<NumModules>&, const Rotation2d&, const wpi::util::array<SwerveModulePosition, NumModules>&, const Pose2d&, const wpi::util::array<double, 3>&, const wpi::util::array<double, 3>&
           :
 
diff --git a/wpimath/src/main/python/semiwrap/controls/SwerveDrivePoseEstimator3d.yml b/wpimath/src/main/python/semiwrap/controls/SwerveDrivePoseEstimator3d.yml
index d7b0794719..d895537b31 100644
--- a/wpimath/src/main/python/semiwrap/controls/SwerveDrivePoseEstimator3d.yml
+++ b/wpimath/src/main/python/semiwrap/controls/SwerveDrivePoseEstimator3d.yml
@@ -12,7 +12,8 @@ classes:
     methods:
       SwerveDrivePoseEstimator3d:
         overloads:
-          SwerveDriveKinematics<NumModules>&, const Rotation3d&, const wpi::util::array<SwerveModulePosition, NumModules>&, const Pose3d&:
+          ? SwerveDriveKinematics<NumModules>&, const Rotation3d&, const wpi::util::array<SwerveModulePosition, NumModules>&, const Pose3d&
+          :
           ? SwerveDriveKinematics<NumModules>&, const Rotation3d&, const wpi::util::array<SwerveModulePosition, NumModules>&, const Pose3d&, const wpi::util::array<double, 4>&, const wpi::util::array<double, 4>&
           :
 
diff --git a/wpimath/src/main/python/semiwrap/kinematics/SwerveDriveKinematics.yml b/wpimath/src/main/python/semiwrap/kinematics/SwerveDriveKinematics.yml
index a4bd38be46..141fd96668 100644
--- a/wpimath/src/main/python/semiwrap/kinematics/SwerveDriveKinematics.yml
+++ b/wpimath/src/main/python/semiwrap/kinematics/SwerveDriveKinematics.yml
@@ -54,7 +54,8 @@ classes:
           ModuleDeltas&&... [const]:
             ignore: true
           wpi::util::array<SwerveModulePosition, NumModules> [const]:
-          const wpi::util::array<SwerveModulePosition, NumModules>&, const wpi::util::array<SwerveModulePosition, NumModules>& [const]:
+          ? const wpi::util::array<SwerveModulePosition, NumModules>&, const wpi::util::array<SwerveModulePosition, NumModules>& [const]
+          :
       DesaturateWheelSpeeds:
         overloads:
           wpi::util::array<SwerveModuleState, NumModules>*, wpi::units::meters_per_second_t: