diff --git a/upstream_utils/argparse_lib.py b/upstream_utils/argparse_lib.py
index 2dd3363d0a..2c6c077637 100755
--- a/upstream_utils/argparse_lib.py
+++ b/upstream_utils/argparse_lib.py
@@ -11,7 +11,7 @@ def copy_upstream_src(wpilib_root: Path):
 
     # Copy header into allwpilib
     dest_filename = (
-        wpiutil / f"src/main/native/thirdparty/argparse/include/wpi/argparse.h"
+        wpiutil / f"src/main/native/thirdparty/argparse/include/wpi/util/argparse.hpp"
     )
     shutil.copyfile("include/argparse/argparse.hpp", dest_filename)
     # Rename namespace from argparse to wpi
diff --git a/upstream_utils/expected.py b/upstream_utils/expected.py
index 68d27f9ae6..4b1bfcfcb1 100755
--- a/upstream_utils/expected.py
+++ b/upstream_utils/expected.py
@@ -10,7 +10,9 @@ def copy_upstream_src(wpilib_root: Path):
     wpiutil = wpilib_root / "wpiutil"
 
     # Copy expected header into allwpilib
-    dest_filename = wpiutil / "src/main/native/thirdparty/expected/include/wpi/expected"
+    dest_filename = (
+        wpiutil / "src/main/native/thirdparty/expected/include/wpi/util/expected"
+    )
     shutil.copyfile("include/tl/expected.hpp", dest_filename)
 
     # Rename namespace from tl to wpi, and detail to detail_expected
diff --git a/upstream_utils/json.py b/upstream_utils/json.py
index 2b83d44486..72ffb8e8c5 100755
--- a/upstream_utils/json.py
+++ b/upstream_utils/json.py
@@ -20,8 +20,8 @@ def copy_upstream_src(wpilib_root: Path):
     os.chdir("include/nlohmann")
     files = walk_if(Path("."), lambda dp, f: True)
     src_include_files = [f.absolute() for f in files]
-    wpiutil_json_root = wpiutil / "src/main/native/thirdparty/json/include/wpi"
-    dest_include_files = [wpiutil_json_root / f.with_suffix(".h") for f in files]
+    wpiutil_json_root = wpiutil / "src/main/native/thirdparty/json/include/wpi/util"
+    dest_include_files = [wpiutil_json_root / f for f in files]
 
     # Copy json header files into allwpilib
     for i in range(len(src_include_files)):
@@ -39,8 +39,7 @@ def copy_upstream_src(wpilib_root: Path):
         content = content.replace("nlohmann::", "wpi::")
 
         # Fix internal includes
-        content = content.replace(".hpp>", ".h>")
-        content = content.replace("include <nlohmann/", "include <wpi/")
+        content = content.replace("include <nlohmann/", "include <wpi/util/")
 
         # Fix include guards and other #defines
         content = content.replace("NLOHMANN_", "WPI_")
diff --git a/upstream_utils/json_patches/0004-Add-llvm-stream-support.patch b/upstream_utils/json_patches/0004-Add-llvm-stream-support.patch
index a336e8de4d..6ed2e4749b 100644
--- a/upstream_utils/json_patches/0004-Add-llvm-stream-support.patch
+++ b/upstream_utils/json_patches/0004-Add-llvm-stream-support.patch
@@ -10,14 +10,14 @@ Subject: [PATCH 4/5] Add llvm stream support
  3 files changed, 59 insertions(+), 2 deletions(-)
 
 diff --git a/include/nlohmann/detail/output/output_adapters.hpp b/include/nlohmann/detail/output/output_adapters.hpp
-index 626f7c0c85e35ec51a90baa3bdd12cd8df7ba957..f5f15b241f52cd96a36b885ed10ed7815a0d65ec 100644
+index 626f7c0c85e35ec51a90baa3bdd12cd8df7ba957..ecb2165d5e5ecc80b123cd60570f499f7a4e0ed1 100644
 --- a/include/nlohmann/detail/output/output_adapters.hpp
 +++ b/include/nlohmann/detail/output/output_adapters.hpp
 @@ -22,6 +22,8 @@
  
  #include <nlohmann/detail/macro_scope.hpp>
  
-+#include <wpi/raw_ostream.h>
++#include <wpi/util/raw_ostream.hpp>
 +
  NLOHMANN_JSON_NAMESPACE_BEGIN
  namespace detail
diff --git a/upstream_utils/llvm.py b/upstream_utils/llvm.py
index 543ab7ec20..5fdb3dfe3a 100755
--- a/upstream_utils/llvm.py
+++ b/upstream_utils/llvm.py
@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 
+import re
 import shutil
 from pathlib import Path
 
@@ -16,9 +17,11 @@ def run_global_replacements(wpiutil_llvm_files: list[Path]):
         content = content.replace("llvm:", "wpi:")
 
         # Fix #includes
-        content = content.replace('include "llvm/ADT', 'include "wpi')
-        content = content.replace('include "llvm/Config', 'include "wpi')
-        content = content.replace('include "llvm/Support', 'include "wpi')
+        content = content.replace('include "llvm/ADT', 'include "wpi/util')
+        content = content.replace('include "llvm/Config', 'include "wpi/util')
+        content = content.replace('include "llvm/Support', 'include "wpi/util')
+        content = content.replace('include "CountCopyAndMove.h"', 'include "CountCopyAndMove.hpp"')
+        content = content.replace('include "Windows/WindowsSupport.h"', 'include "Windows/WindowsSupport.hpp"')
 
         # Fix uses of span
         content = content.replace("span", "std::span")
@@ -43,21 +46,21 @@ def run_global_replacements(wpiutil_llvm_files: list[Path]):
 
         # Remove unused headers
         content = content.replace('#include "llvm-c/ErrorHandling.h"\n', "")
-        content = content.replace('#include "wpi/Debug.h"\n', "")
-        content = content.replace('#include "wpi/Error.h"\n', "")
-        content = content.replace('#include "wpi/Format.h"\n', "")
-        content = content.replace('#include "wpi/FormatVariadic.h"\n', "")
-        content = content.replace('#include "wpi/Hashing.h"\n', "")
-        content = content.replace('#include "wpi/NativeFormatting.h"\n', "")
-        content = content.replace('#include "wpi/Threading.h"\n', "")
-        content = content.replace('#include "wpi/DataTypes.h"\n', "")
-        content = content.replace('#include "wpi/llvm-config.h"\n', "")
-        content = content.replace('#include "wpi/abi-breaking.h"\n', "")
-        content = content.replace('#include "wpi/config.h"\n', "")
-        content = content.replace('#include "wpi/Signals.h"\n', "")
-        content = content.replace('#include "wpi/Process.h"\n', "")
-        content = content.replace('#include "wpi/Path.h"\n', "")
-        content = content.replace('#include "wpi/Program.h"\n', "")
+        content = content.replace('#include "wpi/util/Debug.h"\n', "")
+        content = content.replace('#include "wpi/util/Error.h"\n', "")
+        content = content.replace('#include "wpi/util/Format.h"\n', "")
+        content = content.replace('#include "wpi/util/FormatVariadic.h"\n', "")
+        content = content.replace('#include "wpi/util/Hashing.h"\n', "")
+        content = content.replace('#include "wpi/util/NativeFormatting.h"\n', "")
+        content = content.replace('#include "wpi/util/Threading.h"\n', "")
+        content = content.replace('#include "wpi/util/DataTypes.h"\n', "")
+        content = content.replace('#include "wpi/util/llvm-config.h"\n', "")
+        content = content.replace('#include "wpi/util/abi-breaking.h"\n', "")
+        content = content.replace('#include "wpi/util/config.h"\n', "")
+        content = content.replace('#include "wpi/util/Signals.h"\n', "")
+        content = content.replace('#include "wpi/util/Process.h"\n', "")
+        content = content.replace('#include "wpi/util/Path.h"\n', "")
+        content = content.replace('#include "wpi/util/Program.h"\n', "")
 
         # Fix include guards
         content = content.replace("LLVM_ADT_", "WPIUTIL_WPI_")
@@ -70,7 +73,9 @@ def run_global_replacements(wpiutil_llvm_files: list[Path]):
         content = content.replace("sys::fs::", "fs::")
 
         # Replace wpi/FileSystem.h with wpi/fs.h
-        content = content.replace('include "wpi/FileSystem.h"', 'include "wpi/fs.h"')
+        content = content.replace(
+            'include "wpi/util/FileSystem.h"', 'include "wpi/util/fs.hpp"'
+        )
 
         # Replace llvm_unreachable() with wpi_unreachable()
         content = content.replace("llvm_unreachable", "wpi_unreachable")
@@ -85,6 +90,9 @@ def run_global_replacements(wpiutil_llvm_files: list[Path]):
 
         content = content.replace("fs::openFileForRead", "fs::OpenFileForRead")
 
+        # Handle move from .h -> .hpp
+        content = re.sub('#include "wpi/util/(.*).h"', r'#include "wpi/util/\1.hpp"', content)
+
         with open(wpi_file, "w") as f:
             f.write(content)
 
@@ -104,11 +112,11 @@ def flattened_llvm_files(llvm: Path, dirs_to_keep: list[Path]):
 def find_wpiutil_llvm_files(wpiutil_root: Path, subfolder: str):
     # These files have substantial changes, not worth managing with the patching process
     ignore_list = [
-        "StringExtras.h",
+        "StringExtras.hpp",
         "StringExtras.cpp",
         "MemoryBuffer.cpp",
-        "MemoryBuffer.h",
-        "SmallVectorMemoryBuffer.h",
+        "MemoryBuffer.hpp",
+        "SmallVectorMemoryBuffer.hpp",
     ]
 
     wpiutil_files: list[Path] = []
@@ -127,8 +135,14 @@ def overwrite_files(wpiutil_files: list[Path], llvm_files: dict[str, Path]):
 
     for wpi_file in wpiutil_files:
         wpi_base_name = wpi_file.name
+        if wpi_file.suffix == ".hpp":
+            wpi_base_name = wpi_file.with_suffix(".h").name
+    
         if wpi_base_name in llvm_files:
-            shutil.copyfile(llvm_files[wpi_base_name], wpi_file)
+            if wpi_file.suffix == ".h":
+                shutil.copyfile(llvm_files[wpi_base_name], wpi_file.with_suffix(".hpp"))
+            else:
+                shutil.copyfile(llvm_files[wpi_base_name], wpi_file)
 
         elif wpi_base_name not in unmatched_files_whitelist:
             print(f"No file match for {wpi_file}, check if LLVM deleted it")
diff --git a/upstream_utils/llvm_patches/0015-Fixup-includes.patch b/upstream_utils/llvm_patches/0015-Fixup-includes.patch
index a00f0a54e6..4a0fd2a458 100644
--- a/upstream_utils/llvm_patches/0015-Fixup-includes.patch
+++ b/upstream_utils/llvm_patches/0015-Fixup-includes.patch
@@ -67,15 +67,15 @@ index 4de36d969b3776b72ff85888355b64f7f3262ccc..e813fd3faa9f76148f9802c4b7308e51
  #include <ntstatus.h>
  #include <winerror.h>
 diff --git a/llvm/lib/Support/raw_ostream.cpp b/llvm/lib/Support/raw_ostream.cpp
-index a74b6b00d616828a8e5ab25c1fd15f2528b4d76d..87c890f7659ae9d59ae70557df464aaff4d2d77a 100644
+index a74b6b00d616828a8e5ab25c1fd15f2528b4d76d..a59603f9f2518428ae331e339dca2562de1ac4ff 100644
 --- a/llvm/lib/Support/raw_ostream.cpp
 +++ b/llvm/lib/Support/raw_ostream.cpp
 @@ -15,6 +15,8 @@
  #endif
  
  #include "llvm/Support/raw_ostream.h"
-+#include "wpi/SmallString.h"
-+#include "wpi/SmallVector.h"
++#include "wpi/util/SmallString.hpp"
++#include "wpi/util/SmallVector.hpp"
  #include "llvm/ADT/StringExtras.h"
  #include "llvm/Config/config.h"
  #include "llvm/Support/AutoConvert.h"
diff --git a/upstream_utils/llvm_patches/0017-Windows-support.patch b/upstream_utils/llvm_patches/0017-Windows-support.patch
index 76d0223844..7d9a7d2623 100644
--- a/upstream_utils/llvm_patches/0017-Windows-support.patch
+++ b/upstream_utils/llvm_patches/0017-Windows-support.patch
@@ -91,7 +91,7 @@ index 83d5586ae8a77ec585e7e59df3075ca59cfb9d0c..395965bc6fc969ed9a2d92743a0010dd
  } // end namespace llvm.
  
 diff --git a/llvm/lib/Support/ConvertUTF.cpp b/llvm/lib/Support/ConvertUTF.cpp
-index bc04c5ab5113563fb82d7b3b168985369b611f4b..57eb64a6017a6964ab14b40b8c6b3563cd41ffac 100644
+index bc04c5ab5113563fb82d7b3b168985369b611f4b..14fb61ff3465f08a931981f560ea5b176ca888b8 100644
 --- a/llvm/lib/Support/ConvertUTF.cpp
 +++ b/llvm/lib/Support/ConvertUTF.cpp
 @@ -67,6 +67,11 @@
@@ -99,8 +99,8 @@ index bc04c5ab5113563fb82d7b3b168985369b611f4b..57eb64a6017a6964ab14b40b8c6b3563
  #include <assert.h>
  
 +#ifdef _WIN32
-+#include "wpi/WindowsError.h"
-+#include "Windows/WindowsSupport.h"
++#include "wpi/util/WindowsError.hpp"
++#include "Windows/WindowsSupport.hpp"
 +#endif
 +
  /*
@@ -204,7 +204,7 @@ index bc04c5ab5113563fb82d7b3b168985369b611f4b..57eb64a6017a6964ab14b40b8c6b3563
  
  ConvertUTF_RESTORE_WARNINGS
 diff --git a/llvm/lib/Support/raw_ostream.cpp b/llvm/lib/Support/raw_ostream.cpp
-index 87c890f7659ae9d59ae70557df464aaff4d2d77a..193ef061867c659e732bb1507b4ff0808f3b5f5c 100644
+index a59603f9f2518428ae331e339dca2562de1ac4ff..585f45d9eedc2d900886988010738dc390acbf90 100644
 --- a/llvm/lib/Support/raw_ostream.cpp
 +++ b/llvm/lib/Support/raw_ostream.cpp
 @@ -524,7 +524,6 @@ void raw_fd_ostream::write_impl(const char *Ptr, size_t Size) {
diff --git a/upstream_utils/llvm_patches/0019-Prefer-fmtlib.patch b/upstream_utils/llvm_patches/0019-Prefer-fmtlib.patch
index ef8676e4e1..cd0fbacf42 100644
--- a/upstream_utils/llvm_patches/0019-Prefer-fmtlib.patch
+++ b/upstream_utils/llvm_patches/0019-Prefer-fmtlib.patch
@@ -8,7 +8,7 @@ Subject: [PATCH 19/36] Prefer fmtlib
  1 file changed, 6 insertions(+), 14 deletions(-)
 
 diff --git a/llvm/lib/Support/ErrorHandling.cpp b/llvm/lib/Support/ErrorHandling.cpp
-index d0fd67bd3c0d4cf33922cdda042531424d277951..b66f4a0d71f4897821084dc05a278d7c5194a847 100644
+index d0fd67bd3c0d4cf33922cdda042531424d277951..2f160c45b47cf57bb28f6393dd56cde06089639b 100644
 --- a/llvm/lib/Support/ErrorHandling.cpp
 +++ b/llvm/lib/Support/ErrorHandling.cpp
 @@ -22,7 +22,7 @@
@@ -16,7 +16,7 @@ index d0fd67bd3c0d4cf33922cdda042531424d277951..b66f4a0d71f4897821084dc05a278d7c
  #include "llvm/Support/Threading.h"
  #include "llvm/Support/WindowsError.h"
 -#include "llvm/Support/raw_ostream.h"
-+#include "wpi/print.h"
++#include "wpi/util/print.hpp"
  #include <cassert>
  #include <cstdlib>
  #include <mutex>
diff --git a/upstream_utils/llvm_patches/0021-Remove-unused-functions.patch b/upstream_utils/llvm_patches/0021-Remove-unused-functions.patch
index f1bd355ac9..099a7448c0 100644
--- a/upstream_utils/llvm_patches/0021-Remove-unused-functions.patch
+++ b/upstream_utils/llvm_patches/0021-Remove-unused-functions.patch
@@ -48,7 +48,7 @@ index 990d3e4cfe53e025df6ce797f46f9de5af8ca6dc..264b8192a0473b94363765995517851c
    //===--------------------------------------------------------------------===//
    // Subclass Interface
 diff --git a/llvm/lib/Support/ErrorHandling.cpp b/llvm/lib/Support/ErrorHandling.cpp
-index b66f4a0d71f4897821084dc05a278d7c5194a847..6c2b1c433285d2ec5d124f96919ff27f3328d74c 100644
+index 2f160c45b47cf57bb28f6393dd56cde06089639b..9ef6f7da66c66a35b1ce63e603e8590c214f9843 100644
 --- a/llvm/lib/Support/ErrorHandling.cpp
 +++ b/llvm/lib/Support/ErrorHandling.cpp
 @@ -182,22 +182,6 @@ void llvm::llvm_unreachable_internal(const char *msg, const char *file,
@@ -75,7 +75,7 @@ index b66f4a0d71f4897821084dc05a278d7c5194a847..6c2b1c433285d2ec5d124f96919ff27f
  
  #define WIN32_NO_STATUS
 diff --git a/llvm/lib/Support/raw_ostream.cpp b/llvm/lib/Support/raw_ostream.cpp
-index 193ef061867c659e732bb1507b4ff0808f3b5f5c..3bfebbb41f324d9525290d9105c11fe01502dd87 100644
+index 585f45d9eedc2d900886988010738dc390acbf90..841a30962da17fc3d7bd18e14b44993900b3f984 100644
 --- a/llvm/lib/Support/raw_ostream.cpp
 +++ b/llvm/lib/Support/raw_ostream.cpp
 @@ -168,16 +168,6 @@ raw_ostream &raw_ostream::write_escaped(std::string_view Str,
diff --git a/upstream_utils/llvm_patches/0022-OS-specific-changes.patch b/upstream_utils/llvm_patches/0022-OS-specific-changes.patch
index d436fbba21..98407fe271 100644
--- a/upstream_utils/llvm_patches/0022-OS-specific-changes.patch
+++ b/upstream_utils/llvm_patches/0022-OS-specific-changes.patch
@@ -8,7 +8,7 @@ Subject: [PATCH 22/36] OS-specific changes
  1 file changed, 7 insertions(+), 9 deletions(-)
 
 diff --git a/llvm/lib/Support/ErrorHandling.cpp b/llvm/lib/Support/ErrorHandling.cpp
-index 6c2b1c433285d2ec5d124f96919ff27f3328d74c..05e7ee1d125bdd6ce9a8f0db97d4feed3832a7ba 100644
+index 9ef6f7da66c66a35b1ce63e603e8590c214f9843..4436b8e7f3a68ba85f184ee71014b9c1e0511d8a 100644
 --- a/llvm/lib/Support/ErrorHandling.cpp
 +++ b/llvm/lib/Support/ErrorHandling.cpp
 @@ -96,15 +96,7 @@ void llvm::report_fatal_error(std::string_view Reason, bool GenCrashDiag) {
diff --git a/upstream_utils/llvm_patches/0024-Prefer-to-use-static-pointers-in-raw_ostream.patch b/upstream_utils/llvm_patches/0024-Prefer-to-use-static-pointers-in-raw_ostream.patch
index 3a530437e8..54cee1a5bd 100644
--- a/upstream_utils/llvm_patches/0024-Prefer-to-use-static-pointers-in-raw_ostream.patch
+++ b/upstream_utils/llvm_patches/0024-Prefer-to-use-static-pointers-in-raw_ostream.patch
@@ -9,7 +9,7 @@ See #1401
  1 file changed, 4 insertions(+), 4 deletions(-)
 
 diff --git a/llvm/lib/Support/raw_ostream.cpp b/llvm/lib/Support/raw_ostream.cpp
-index 3bfebbb41f324d9525290d9105c11fe01502dd87..47ec87cc8cb9576a443f9e0ea35a753e64411495 100644
+index 841a30962da17fc3d7bd18e14b44993900b3f984..7a838a544a3ee5919cc48f806bceeaa3c1cec0de 100644
 --- a/llvm/lib/Support/raw_ostream.cpp
 +++ b/llvm/lib/Support/raw_ostream.cpp
 @@ -608,9 +608,9 @@ raw_fd_ostream &llvm::outs() {
diff --git a/upstream_utils/llvm_patches/0031-raw_ostream-Replace-errnoAsErrorCode.patch b/upstream_utils/llvm_patches/0031-raw_ostream-Replace-errnoAsErrorCode.patch
index d76c1d0b12..3b73ba1832 100644
--- a/upstream_utils/llvm_patches/0031-raw_ostream-Replace-errnoAsErrorCode.patch
+++ b/upstream_utils/llvm_patches/0031-raw_ostream-Replace-errnoAsErrorCode.patch
@@ -8,7 +8,7 @@ Subject: [PATCH 31/36] raw_ostream: Replace errnoAsErrorCode()
  1 file changed, 2 insertions(+), 2 deletions(-)
 
 diff --git a/llvm/lib/Support/raw_ostream.cpp b/llvm/lib/Support/raw_ostream.cpp
-index 47ec87cc8cb9576a443f9e0ea35a753e64411495..c9e62f5c1c4a194fb12ad604bc7f2a72d421c2e1 100644
+index 7a838a544a3ee5919cc48f806bceeaa3c1cec0de..4b76e51dd3c3dcb050a8dc2e5d88f4575acd51b5 100644
 --- a/llvm/lib/Support/raw_ostream.cpp
 +++ b/llvm/lib/Support/raw_ostream.cpp
 @@ -523,7 +523,7 @@ void raw_fd_ostream::write_impl(const char *Ptr, size_t Size) {
diff --git a/upstream_utils/llvm_patches/0033-Remove-auto-conversion-from-raw_ostream.patch b/upstream_utils/llvm_patches/0033-Remove-auto-conversion-from-raw_ostream.patch
index ff37d4fdd9..dd681b6006 100644
--- a/upstream_utils/llvm_patches/0033-Remove-auto-conversion-from-raw_ostream.patch
+++ b/upstream_utils/llvm_patches/0033-Remove-auto-conversion-from-raw_ostream.patch
@@ -8,11 +8,11 @@ Subject: [PATCH 33/36] Remove auto-conversion from raw_ostream
  1 file changed, 1 insertion(+), 10 deletions(-)
 
 diff --git a/llvm/lib/Support/raw_ostream.cpp b/llvm/lib/Support/raw_ostream.cpp
-index c9e62f5c1c4a194fb12ad604bc7f2a72d421c2e1..e387577d7a040a1698b14c821eb4197d376fc631 100644
+index 4b76e51dd3c3dcb050a8dc2e5d88f4575acd51b5..e8536a0d98c78ab2bbf400418b37f5dd4b8a8c42 100644
 --- a/llvm/lib/Support/raw_ostream.cpp
 +++ b/llvm/lib/Support/raw_ostream.cpp
 @@ -19,7 +19,6 @@
- #include "wpi/SmallVector.h"
+ #include "wpi/util/SmallVector.h"
  #include "llvm/ADT/StringExtras.h"
  #include "llvm/Config/config.h"
 -#include "llvm/Support/AutoConvert.h"
diff --git a/upstream_utils/mpack.py b/upstream_utils/mpack.py
index e4fca5c39b..01ceaf4919 100755
--- a/upstream_utils/mpack.py
+++ b/upstream_utils/mpack.py
@@ -26,7 +26,7 @@ def copy_upstream_src(wpilib_root: Path):
 
     walk_cwd_and_copy_if(
         lambda dp, f: f.endswith(".h"),
-        wpiutil / "src/main/native/thirdparty/mpack/include/wpi",
+        wpiutil / "src/main/native/thirdparty/mpack/include/wpi/util",
     )
     walk_cwd_and_copy_if(
         lambda dp, f: f.endswith(".c"),
diff --git a/upstream_utils/mpack_patches/0002-Update-amalgamation-script.patch b/upstream_utils/mpack_patches/0002-Update-amalgamation-script.patch
index 68f6258271..c7a105ec78 100644
--- a/upstream_utils/mpack_patches/0002-Update-amalgamation-script.patch
+++ b/upstream_utils/mpack_patches/0002-Update-amalgamation-script.patch
@@ -8,7 +8,7 @@ Subject: [PATCH 2/4] Update amalgamation script
  1 file changed, 2 insertions(+), 2 deletions(-)
 
 diff --git a/tools/amalgamate.sh b/tools/amalgamate.sh
-index 2e24e278e54bbc52967bfe1f8970f4f8d4b238d5..4dfe999ee49ee67fd394e948b0bb3133d6acdbdc 100755
+index 2e24e278e54bbc52967bfe1f8970f4f8d4b238d5..376d1c5d1179784b0246c11d2119e4370f596fec 100755
 --- a/tools/amalgamate.sh
 +++ b/tools/amalgamate.sh
 @@ -74,8 +74,8 @@ echo -e "#endif\n" >> $HEADER
@@ -18,7 +18,7 @@ index 2e24e278e54bbc52967bfe1f8970f4f8d4b238d5..4dfe999ee49ee67fd394e948b0bb3133
 -echo -e "#define MPACK_EMIT_INLINE_DEFS 1\n" >> $SOURCE
 -echo -e "#include \"mpack.h\"\n" >> $SOURCE
 +echo -e "#define MPACK_EMIT_INLINE_DEFS 0\n" >> $SOURCE
-+echo -e "#include \"wpi/mpack.h\"\n" >> $SOURCE
++echo -e "#include \"wpi/util/mpack.h\"\n" >> $SOURCE
  for f in $SOURCES; do
      echo -e "\n/* $f.c */" >> $SOURCE
      sed -e 's@^#include ".*@/* & */@' -e '0,/^ \*\/$/d' src/$f >> $SOURCE
diff --git a/upstream_utils/mpack_patches/0004-Group-doxygen-into-MPack-module.patch b/upstream_utils/mpack_patches/0004-Group-doxygen-into-MPack-module.patch
index b3e56098e9..a64d3bd595 100644
--- a/upstream_utils/mpack_patches/0004-Group-doxygen-into-MPack-module.patch
+++ b/upstream_utils/mpack_patches/0004-Group-doxygen-into-MPack-module.patch
@@ -116,7 +116,7 @@ index 129a276115d85e09d717504df3736a7614fbd2ea..9739205efd0406a1bd05c728556c8f36
  #include "mpack-writer.h"
  #include "mpack-reader.h"
 diff --git a/tools/amalgamate.sh b/tools/amalgamate.sh
-index 4dfe999ee49ee67fd394e948b0bb3133d6acdbdc..ebff08200198406940720efe093df909a31caf65 100755
+index 376d1c5d1179784b0246c11d2119e4370f596fec..e15d27a1ddcbd9a2284ece3fc07cd171ac429d59 100755
 --- a/tools/amalgamate.sh
 +++ b/tools/amalgamate.sh
 @@ -66,6 +66,11 @@ echo -e "#define MPACK_AMALGAMATED 1\n" >> $HEADER
diff --git a/upstream_utils/sleipnir.py b/upstream_utils/sleipnir.py
index a83520464b..3e8ce2691d 100755
--- a/upstream_utils/sleipnir.py
+++ b/upstream_utils/sleipnir.py
@@ -34,7 +34,7 @@ def copy_upstream_src(wpilib_root: Path):
 
 #pragma once
 
-#include <wpi/SmallVector.h>
+#include <wpi/util/SmallVector.hpp>
 
 namespace gch {
 
diff --git a/upstream_utils/sleipnir_patches/0003-Use-wpi-byteswap.patch b/upstream_utils/sleipnir_patches/0003-Use-wpi-byteswap.patch
index 02eb660bc0..5d8e9e80d3 100644
--- a/upstream_utils/sleipnir_patches/0003-Use-wpi-byteswap.patch
+++ b/upstream_utils/sleipnir_patches/0003-Use-wpi-byteswap.patch
@@ -19,14 +19,14 @@ index 4f4c76204071f90bf49eddb8c2aceb583b5e09ba..03938557c2600a7a1f72c6b93c935602
 +  ^wpi/
  }
 diff --git a/include/sleipnir/util/spy.hpp b/include/sleipnir/util/spy.hpp
-index a2f94803e3744cee771669210d1af883160e9896..8cd7d4353aad20153af5cd7a818fa55889d35721 100644
+index a2f94803e3744cee771669210d1af883160e9896..74dd7990b03783ce805a186920d5142caeb178c6 100644
 --- a/include/sleipnir/util/spy.hpp
 +++ b/include/sleipnir/util/spy.hpp
 @@ -12,6 +12,7 @@
  #include <string_view>
  
  #include <Eigen/SparseCore>
-+#include <wpi/bit.h>
++#include <wpi/util/bit.hpp>
  
  #include "sleipnir/util/symbol_exports.hpp"