diff --git a/BUILD.bazel b/BUILD.bazel
index bcbb962eae..cdb0bba649 100644
--- a/BUILD.bazel
+++ b/BUILD.bazel
@@ -1,10 +1,20 @@
 load("@aspect_bazel_lib//lib:write_source_files.bzl", "write_source_files")
 load("@rules_java//java:java_binary.bzl", "java_binary")
+load("@rules_java//java:java_plugin.bzl", "java_plugin")
 load("@rules_pkg//:mappings.bzl", "pkg_files")
 load("@rules_python//python:pip.bzl", "compile_pip_requirements")
 load("//shared/bazel/rules:publishing.bzl", "publish_all")
 load("//shared/bazel/rules/robotpy:compatibility_select.bzl", "robotpy_compatibility_select")
 
+java_plugin(
+    name = "avaje_jsonb_generator",
+    processor_class = "io.avaje.jsonb.generator.JsonbProcessor",
+    visibility = ["//visibility:public"],
+    deps = [
+        "@maven//:io_avaje_avaje_jsonb_generator",
+    ],
+)
+
 exports_files([
     "LICENSE.md",
     "ThirdPartyNotices.txt",
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 2943dc85ef..bd75892648 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -131,7 +131,7 @@ wpilib_config(OPTIONS WITH_WPIMATH WITH_JAVA REQUIRES WITH_WPIUNITS)
 set(include_dest include)
 set(java_lib_dest java)
 if(WITH_JAVA OR WITH_JAVA_SOURCE)
-    set(CMAKE_JAVA_COMPILE_FLAGS "-encoding" "UTF8" "-Xlint:unchecked")
+    set(CMAKE_JAVA_COMPILE_FLAGS "-encoding" "UTF8" "-Xlint:unchecked" "-proc:full")
     find_package(Java REQUIRED COMPONENTS Development)
     if(NOT ANDROID)
         find_package(JNI REQUIRED COMPONENTS JVM)
diff --git a/MODULE.bazel b/MODULE.bazel
index de28107f88..5e46a6bf80 100644
--- a/MODULE.bazel
+++ b/MODULE.bazel
@@ -51,9 +51,8 @@ maven.install(
     name = "maven",
     artifacts = [
         "org.ejml:ejml-simple:0.44.0",
-        "com.fasterxml.jackson.core:jackson-annotations:2.19.2",
-        "com.fasterxml.jackson.core:jackson-core:2.19.2",
-        "com.fasterxml.jackson.core:jackson-databind:2.19.2",
+        "io.avaje:avaje-jsonb:3.11",
+        "io.avaje:avaje-jsonb-generator:3.11",
         "us.hebi.quickbuf:quickbuf-runtime:1.4",
         "com.google.code.gson:gson:2.13.1",
         "edu.wpi.first.thirdparty.frc2025.opencv:opencv-java:4.10.0-3",
diff --git a/apriltag/BUILD.bazel b/apriltag/BUILD.bazel
index 9fc0ed5d78..de9fd85f2b 100644
--- a/apriltag/BUILD.bazel
+++ b/apriltag/BUILD.bazel
@@ -140,6 +140,9 @@ wpilib_jni_java_library(
     maven_artifact_name = "apriltag-java",
     maven_group_id = "org.wpilib.apriltag",
     native_libs = [":apriltagjni"],
+    plugins = [
+        "//:avaje_jsonb_generator",
+    ],
     resource_strip_prefix = "apriltag/src/main/native/resources",
     resources = glob(["src/main/native/resources/**"]),
     visibility = ["//visibility:public"],
@@ -147,9 +150,8 @@ wpilib_jni_java_library(
         "//wpimath:wpimath-java",
         "//wpiutil:wpiutil-java",
         "@bzlmodrio-opencv//libraries/java/opencv",
-        "@maven//:com_fasterxml_jackson_core_jackson_annotations",
-        "@maven//:com_fasterxml_jackson_core_jackson_core",
-        "@maven//:com_fasterxml_jackson_core_jackson_databind",
+        "@maven//:io_avaje_avaje_json_core",
+        "@maven//:io_avaje_avaje_jsonb",
     ],
 )
 
@@ -182,7 +184,7 @@ wpilib_java_junit5_test(
         "//wpimath:wpimath-java",
         "//wpiutil:wpiutil-java",
         "@bzlmodrio-opencv//libraries/java/opencv",
-        "@maven//:com_fasterxml_jackson_core_jackson_databind",
+        "@maven//:io_avaje_avaje_jsonb",
     ],
 )
 
diff --git a/apriltag/CMakeLists.txt b/apriltag/CMakeLists.txt
index 223d055bb1..9d1606d737 100644
--- a/apriltag/CMakeLists.txt
+++ b/apriltag/CMakeLists.txt
@@ -39,7 +39,7 @@ if(WITH_JAVA)
     set(CMAKE_JNI_TARGET true)
 
     file(GLOB EJML_JARS "${WPILIB_BINARY_DIR}/wpimath/thirdparty/ejml/*.jar")
-    file(GLOB JACKSON_JARS "${WPILIB_BINARY_DIR}/wpiutil/thirdparty/jackson/*.jar")
+    file(GLOB AVAJE_JARS "${WPILIB_BINARY_DIR}/wpiutil/thirdparty/avaje/*.jar")
     find_file(
         OPENCV_JAR_FILE
         NAMES opencv-${OpenCV_VERSION_MAJOR}${OpenCV_VERSION_MINOR}${OpenCV_VERSION_PATCH}.jar
@@ -69,7 +69,7 @@ if(WITH_JAVA)
             wpiutil_jar
             ${EJML_JARS}
             ${OPENCV_JAR_FILE}
-            ${JACKSON_JARS}
+            ${AVAJE_JARS}
         OUTPUT_NAME apriltag
         OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
         GENERATE_NATIVE_HEADERS apriltag_jni_headers
diff --git a/apriltag/build.gradle b/apriltag/build.gradle
index 909bf1df74..14daba3bee 100644
--- a/apriltag/build.gradle
+++ b/apriltag/build.gradle
@@ -46,6 +46,7 @@ apply from: "${rootDir}/shared/opencv.gradle"
 
 dependencies {
     implementation project(':wpimath')
+    annotationProcessor libs.avaje.jsonb.generator
 }
 
 sourceSets {
diff --git a/apriltag/src/main/java/org/wpilib/vision/apriltag/AprilTag.java b/apriltag/src/main/java/org/wpilib/vision/apriltag/AprilTag.java
index 05f8fab181..b2f36c1d0c 100644
--- a/apriltag/src/main/java/org/wpilib/vision/apriltag/AprilTag.java
+++ b/apriltag/src/main/java/org/wpilib/vision/apriltag/AprilTag.java
@@ -4,8 +4,7 @@
 
 package org.wpilib.vision.apriltag;
 
-import com.fasterxml.jackson.annotation.JsonCreator;
-import com.fasterxml.jackson.annotation.JsonProperty;
+import io.avaje.jsonb.Json;
 import java.util.Objects;
 import org.wpilib.math.geometry.Pose3d;
 import org.wpilib.util.RawFrame;
@@ -13,13 +12,14 @@ import org.wpilib.vision.apriltag.jni.AprilTagJNI;
 
 /** Represents an AprilTag's metadata. */
 @SuppressWarnings("MemberName")
+@Json
 public class AprilTag {
   /** The tag's ID. */
-  @JsonProperty(value = "ID")
+  @Json.Property("ID")
   public int ID;
 
   /** The tag's pose. */
-  @JsonProperty(value = "pose")
+  @Json.Property("pose")
   public Pose3d pose;
 
   /**
@@ -29,10 +29,8 @@ public class AprilTag {
    * @param pose The tag's pose.
    */
   @SuppressWarnings("ParameterName")
-  @JsonCreator
-  public AprilTag(
-      @JsonProperty(required = true, value = "ID") int ID,
-      @JsonProperty(required = true, value = "pose") Pose3d pose) {
+  @Json.Creator
+  public AprilTag(int ID, Pose3d pose) {
     this.ID = ID;
     this.pose = pose;
   }
diff --git a/apriltag/src/main/java/org/wpilib/vision/apriltag/AprilTagFieldLayout.java b/apriltag/src/main/java/org/wpilib/vision/apriltag/AprilTagFieldLayout.java
index 263af46379..62b878ed9b 100644
--- a/apriltag/src/main/java/org/wpilib/vision/apriltag/AprilTagFieldLayout.java
+++ b/apriltag/src/main/java/org/wpilib/vision/apriltag/AprilTagFieldLayout.java
@@ -4,17 +4,12 @@
 
 package org.wpilib.vision.apriltag;
 
-import com.fasterxml.jackson.annotation.JsonAutoDetect;
-import com.fasterxml.jackson.annotation.JsonCreator;
-import com.fasterxml.jackson.annotation.JsonIgnore;
-import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
-import com.fasterxml.jackson.annotation.JsonProperty;
-import com.fasterxml.jackson.databind.ObjectMapper;
+import io.avaje.jsonb.Json;
+import io.avaje.jsonb.Jsonb;
 import java.io.IOException;
 import java.io.InputStream;
-import java.io.InputStreamReader;
 import java.io.UncheckedIOException;
-import java.nio.charset.StandardCharsets;
+import java.nio.file.Files;
 import java.nio.file.Path;
 import java.util.ArrayList;
 import java.util.HashMap;
@@ -43,8 +38,7 @@ import org.wpilib.math.geometry.Translation3d;
  * <p>Tag poses represent the center of the tag, with a zero rotation representing a tag that is
  * upright and facing away from the (blue) alliance wall (that is, towards the opposing alliance).
  */
-@JsonIgnoreProperties(ignoreUnknown = true)
-@JsonAutoDetect(getterVisibility = JsonAutoDetect.Visibility.NONE)
+@Json
 public class AprilTagFieldLayout {
   /** Common origin positions for the AprilTag coordinate system. */
   public enum OriginPosition {
@@ -54,12 +48,12 @@ public class AprilTagFieldLayout {
     kRedAllianceWallRightSide,
   }
 
-  private final Map<Integer, AprilTag> m_apriltags = new HashMap<>();
+  @Json.Ignore private final Map<Integer, AprilTag> m_apriltags = new HashMap<>();
 
-  @JsonProperty(value = "field")
-  private FieldDimensions m_fieldDimensions;
+  @Json.Property("field")
+  FieldDimensions m_fieldDimensions;
 
-  private Pose3d m_origin;
+  @Json.Ignore private Pose3d m_origin;
 
   /**
    * Construct a new AprilTagFieldLayout with values imported from a JSON file.
@@ -79,7 +73,7 @@ public class AprilTagFieldLayout {
    */
   public AprilTagFieldLayout(Path path) throws IOException {
     AprilTagFieldLayout layout =
-        new ObjectMapper().readValue(path.toFile(), AprilTagFieldLayout.class);
+        Jsonb.instance().type(AprilTagFieldLayout.class).fromJson(Files.newBufferedReader(path));
     m_apriltags.putAll(layout.m_apriltags);
     m_fieldDimensions = layout.m_fieldDimensions;
     setOrigin(OriginPosition.kBlueAllianceWallRightSide);
@@ -96,10 +90,10 @@ public class AprilTagFieldLayout {
     this(apriltags, new FieldDimensions(fieldLength, fieldWidth));
   }
 
-  @JsonCreator
-  private AprilTagFieldLayout(
-      @JsonProperty(required = true, value = "tags") List<AprilTag> apriltags,
-      @JsonProperty(required = true, value = "field") FieldDimensions fieldDimensions) {
+  @Json.Creator
+  AprilTagFieldLayout(
+      @Json.Alias("tags") List<AprilTag> apriltags,
+      @Json.Alias("field") FieldDimensions fieldDimensions) {
     // To ensure the underlying semantics don't change with what kind of list is passed in
     for (AprilTag tag : apriltags) {
       m_apriltags.put(tag.ID, tag);
@@ -113,7 +107,7 @@ public class AprilTagFieldLayout {
    *
    * @return The {@link AprilTag AprilTags} used in this layout.
    */
-  @JsonProperty("tags")
+  @Json.Property("tags")
   public List<AprilTag> getTags() {
     return new ArrayList<>(m_apriltags.values());
   }
@@ -123,7 +117,6 @@ public class AprilTagFieldLayout {
    *
    * @return length, in meters
    */
-  @JsonIgnore
   public double getFieldLength() {
     return m_fieldDimensions.fieldLength;
   }
@@ -133,7 +126,6 @@ public class AprilTagFieldLayout {
    *
    * @return width, in meters
    */
-  @JsonIgnore
   public double getFieldWidth() {
     return m_fieldDimensions.fieldWidth;
   }
@@ -147,7 +139,6 @@ public class AprilTagFieldLayout {
    *
    * @param origin The predefined origin
    */
-  @JsonIgnore
   public final void setOrigin(OriginPosition origin) {
     var pose =
         switch (origin) {
@@ -168,7 +159,6 @@ public class AprilTagFieldLayout {
    *
    * @param origin The new origin for tag transformations
    */
-  @JsonIgnore
   public final void setOrigin(Pose3d origin) {
     m_origin = origin;
   }
@@ -178,7 +168,6 @@ public class AprilTagFieldLayout {
    *
    * @return the origin
    */
-  @JsonIgnore
   public Pose3d getOrigin() {
     return m_origin;
   }
@@ -216,7 +205,7 @@ public class AprilTagFieldLayout {
    * @throws IOException If writing to the file fails.
    */
   public void serialize(Path path) throws IOException {
-    new ObjectMapper().writeValue(path.toFile(), this);
+    Jsonb.instance().type(AprilTagFieldLayout.class).toJson(this, Files.newBufferedWriter(path));
   }
 
   /**
@@ -253,16 +242,12 @@ public class AprilTagFieldLayout {
    * @throws IOException If the resource could not be loaded
    */
   public static AprilTagFieldLayout loadFromResource(String resourcePath) throws IOException {
-    InputStream stream = AprilTagFieldLayout.class.getResourceAsStream(resourcePath);
-    if (stream == null) {
-      // Class.getResourceAsStream() returns null if the resource does not exist.
-      throw new IOException("Could not locate resource: " + resourcePath);
-    }
-    InputStreamReader reader = new InputStreamReader(stream, StandardCharsets.UTF_8);
-    try {
-      return new ObjectMapper().readerFor(AprilTagFieldLayout.class).readValue(reader);
-    } catch (IOException e) {
-      throw new IOException("Failed to load AprilTagFieldLayout: " + resourcePath);
+    try (InputStream stream = AprilTagFieldLayout.class.getResourceAsStream(resourcePath)) {
+      if (stream == null) {
+        // Class.getResourceAsStream() returns null if the resource does not exist.
+        throw new IOException("Could not locate resource: " + resourcePath);
+      }
+      return Jsonb.instance().type(AprilTagFieldLayout.class).fromJson(stream);
     }
   }
 
@@ -278,21 +263,19 @@ public class AprilTagFieldLayout {
     return Objects.hash(m_apriltags, m_origin);
   }
 
-  @JsonIgnoreProperties(ignoreUnknown = true)
-  @JsonAutoDetect(getterVisibility = JsonAutoDetect.Visibility.NONE)
-  private static class FieldDimensions {
+  static class FieldDimensions {
     @SuppressWarnings("MemberName")
-    @JsonProperty(value = "length")
+    @Json.Property(value = "length")
     public final double fieldLength;
 
     @SuppressWarnings("MemberName")
-    @JsonProperty(value = "width")
+    @Json.Property(value = "width")
     public final double fieldWidth;
 
-    @JsonCreator()
+    @Json.Creator()
     FieldDimensions(
-        @JsonProperty(required = true, value = "length") double fieldLength,
-        @JsonProperty(required = true, value = "width") double fieldWidth) {
+        @Json.Alias(value = "length") double fieldLength,
+        @Json.Alias(value = "width") double fieldWidth) {
       this.fieldLength = fieldLength;
       this.fieldWidth = fieldWidth;
     }
diff --git a/apriltag/src/test/java/org/wpilib/vision/apriltag/AprilTagSerializationTest.java b/apriltag/src/test/java/org/wpilib/vision/apriltag/AprilTagSerializationTest.java
index 8773f90bb2..1b3aee8435 100644
--- a/apriltag/src/test/java/org/wpilib/vision/apriltag/AprilTagSerializationTest.java
+++ b/apriltag/src/test/java/org/wpilib/vision/apriltag/AprilTagSerializationTest.java
@@ -7,7 +7,7 @@ package org.wpilib.vision.apriltag;
 import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
-import com.fasterxml.jackson.databind.ObjectMapper;
+import io.avaje.jsonb.Jsonb;
 import java.util.List;
 import org.junit.jupiter.api.Test;
 import org.wpilib.math.geometry.Pose3d;
@@ -25,13 +25,9 @@ class AprilTagSerializationTest {
             Units.feetToMeters(54.0),
             Units.feetToMeters(27.0));
 
-    var objectMapper = new ObjectMapper();
+    var layoutType = Jsonb.instance().type(AprilTagFieldLayout.class);
 
-    var deserialized =
-        assertDoesNotThrow(
-            () ->
-                objectMapper.readValue(
-                    objectMapper.writeValueAsString(layout), AprilTagFieldLayout.class));
+    var deserialized = assertDoesNotThrow(() -> layoutType.fromJson(layoutType.toJson(layout)));
 
     assertEquals(layout, deserialized);
   }
diff --git a/benchmark/build.gradle b/benchmark/build.gradle
index 22ef4e1baf..974cb0753b 100644
--- a/benchmark/build.gradle
+++ b/benchmark/build.gradle
@@ -37,6 +37,11 @@ application {
 
 apply plugin: 'com.gradleup.shadow'
 
+shadowJar {
+    mergeServiceFiles()
+    duplicatesStrategy = DuplicatesStrategy.INCLUDE
+}
+
 repositories {
     maven {
         url = 'https://frcmaven.wpi.edu/artifactory/ex-mvn'
diff --git a/commandsv2/CMakeLists.txt b/commandsv2/CMakeLists.txt
index 414e0b4af2..d38f48264f 100644
--- a/commandsv2/CMakeLists.txt
+++ b/commandsv2/CMakeLists.txt
@@ -8,14 +8,14 @@ if(WITH_JAVA)
     include(UseJava)
 
     file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java src/generated/main/java/*.java)
-    file(GLOB JACKSON_JARS "${WPILIB_BINARY_DIR}/wpiutil/thirdparty/jackson/*.jar")
+    file(GLOB AVAJE_JARS "${WPILIB_BINARY_DIR}/wpiutil/thirdparty/avaje/*.jar")
     add_jar(
         commandsv2_jar
         ${JAVA_SOURCES}
         INCLUDE_JARS
             hal_jar
             ntcore_jar
-            ${JACKSON_JARS}
+            ${AVAJE_JARS}
             cscore_jar
             cameraserver_jar
             wpimath_jar
diff --git a/fields/BUILD.bazel b/fields/BUILD.bazel
index b349ba481a..2661cb906c 100644
--- a/fields/BUILD.bazel
+++ b/fields/BUILD.bazel
@@ -38,12 +38,15 @@ wpilib_java_library(
     extra_source_pkgs = ["resources"],
     maven_artifact_name = "fields-java",
     maven_group_id = "org.wpilib.fields",
+    plugins = [
+        "//:avaje_jsonb_generator",
+    ],
     resource_strip_prefix = "fields/src/main/native/resources",
     resources = glob(["src/main/native/resources/**"]),
     visibility = ["//visibility:public"],
     deps = [
-        "@maven//:com_fasterxml_jackson_core_jackson_annotations",
-        "@maven//:com_fasterxml_jackson_core_jackson_databind",
+        "@maven//:io_avaje_avaje_json_core",
+        "@maven//:io_avaje_avaje_jsonb",
     ],
 )
 
diff --git a/fields/CMakeLists.txt b/fields/CMakeLists.txt
index 7ecf62e5ac..fdcc22a896 100644
--- a/fields/CMakeLists.txt
+++ b/fields/CMakeLists.txt
@@ -6,7 +6,7 @@ include(GenResources)
 if(WITH_JAVA)
     include(UseJava)
 
-    file(GLOB JACKSON_JARS "${WPILIB_BINARY_DIR}/wpiutil/thirdparty/jackson/*.jar")
+    file(GLOB AVAJE_JARS "${WPILIB_BINARY_DIR}/wpiutil/thirdparty/avaje/*.jar")
 
     file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java)
     file(
@@ -21,7 +21,7 @@ if(WITH_JAVA)
         SOURCES ${JAVA_SOURCES}
         RESOURCES
         NAMESPACE "org/wpilib/fields" ${JAVA_RESOURCES}
-        INCLUDE_JARS ${JACKSON_JARS}
+        INCLUDE_JARS ${AVAJE_JARS}
         OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
         OUTPUT_NAME fields
     )
diff --git a/fields/build.gradle b/fields/build.gradle
index ed72c1f8d3..7237d6c21a 100644
--- a/fields/build.gradle
+++ b/fields/build.gradle
@@ -14,7 +14,8 @@ if (OperatingSystem.current().isWindows()) {
 }
 
 dependencies {
-    implementation libs.bundles.jackson
+    annotationProcessor libs.avaje.jsonb.generator
+    implementation libs.avaje.jsonb
 }
 
 ext {
diff --git a/fields/src/main/java/org/wpilib/fields/FieldConfig.java b/fields/src/main/java/org/wpilib/fields/FieldConfig.java
index cd1a29cbd9..2b604697f1 100644
--- a/fields/src/main/java/org/wpilib/fields/FieldConfig.java
+++ b/fields/src/main/java/org/wpilib/fields/FieldConfig.java
@@ -4,39 +4,38 @@
 
 package org.wpilib.fields;
 
-import com.fasterxml.jackson.annotation.JsonProperty;
-import com.fasterxml.jackson.databind.ObjectMapper;
+import io.avaje.jsonb.Json;
+import io.avaje.jsonb.Jsonb;
 import java.io.BufferedReader;
 import java.io.IOException;
 import java.io.InputStream;
-import java.io.InputStreamReader;
 import java.net.URL;
-import java.nio.charset.StandardCharsets;
 import java.nio.file.Files;
 import java.nio.file.Path;
 
+@Json
 public class FieldConfig {
   public static class Corners {
-    @JsonProperty("top-left")
+    @Json.Property("top-left")
     public double[] m_topLeft;
 
-    @JsonProperty("bottom-right")
+    @Json.Property("bottom-right")
     public double[] m_bottomRight;
   }
 
-  @JsonProperty("game")
+  @Json.Property("game")
   public String m_game;
 
-  @JsonProperty("field-image")
+  @Json.Property("field-image")
   public String m_fieldImage;
 
-  @JsonProperty("field-corners")
+  @Json.Property("field-corners")
   public Corners m_fieldCorners;
 
-  @JsonProperty("field-size")
+  @Json.Property("field-size")
   public double[] m_fieldSize;
 
-  @JsonProperty("field-unit")
+  @Json.Property("field-unit")
   public String m_fieldUnit;
 
   public FieldConfig() {}
@@ -69,7 +68,7 @@ public class FieldConfig {
    */
   public static FieldConfig loadFromFile(Path file) throws IOException {
     try (BufferedReader reader = Files.newBufferedReader(file)) {
-      return new ObjectMapper().readerFor(FieldConfig.class).readValue(reader);
+      return Jsonb.instance().type(FieldConfig.class).fromJson(reader);
     }
   }
 
@@ -81,9 +80,8 @@ public class FieldConfig {
    * @throws IOException Throws if the resource could not be loaded
    */
   public static FieldConfig loadFromResource(String resourcePath) throws IOException {
-    try (InputStream stream = FieldConfig.class.getResourceAsStream(resourcePath);
-        InputStreamReader reader = new InputStreamReader(stream, StandardCharsets.UTF_8)) {
-      return new ObjectMapper().readerFor(FieldConfig.class).readValue(reader);
+    try (InputStream stream = FieldConfig.class.getResourceAsStream(resourcePath)) {
+      return Jsonb.instance().type(FieldConfig.class).fromJson(stream);
     }
   }
 }
diff --git a/gradle/libs.versions.toml b/gradle/libs.versions.toml
index 7498fa3e6b..4065d8d7ed 100644
--- a/gradle/libs.versions.toml
+++ b/gradle/libs.versions.toml
@@ -1,6 +1,6 @@
 [versions]
+avaje = "3.11"
 ejml = "0.44.0"
-jackson = "2.19.2"
 jmh = "1.37"
 opencv = "4.10.0-3"
 thirdparty-year = "frc2025" # Note: this also appears in the opencv module name in the libraries section
@@ -8,11 +8,10 @@ quickbuf = "1.4"
 
 [libraries]
 # General runtime dependencies
+avaje-jsonb = { module = "io.avaje:avaje-jsonb", version.ref = "avaje" }
+avaje-jsonb-generator = { module = "io.avaje:avaje-jsonb-generator", version.ref = "avaje" }
 ejml-simple = { module = "org.ejml:ejml-simple", version.ref = "ejml" } # also pulls in other EJML modules as transitive dependencies
 gson = { module = "com.google.code.gson:gson", version = "2.13.1" }
-jackson-annotations = { module = "com.fasterxml.jackson.core:jackson-annotations", version.ref = "jackson" }
-jackson-core = { module = "com.fasterxml.jackson.core:jackson-core", version.ref = "jackson" }
-jackson-databind = { module = "com.fasterxml.jackson.core:jackson-databind", version.ref = "jackson" }
 quickbuf-runtime = { module = "us.hebi.quickbuf:quickbuf-runtime", version.ref = "quickbuf" }
 thirdparty-opencv = { module = "edu.wpi.first.thirdparty.frc2025.opencv:opencv-java", version.ref = "opencv" }
 
@@ -32,7 +31,6 @@ wpilib-native-utils = { module = "org.wpilib:native-utils", version = "2027.5.1"
 
 [bundles]
 ejml = ["ejml-simple"]
-jackson = ["jackson-annotations", "jackson-core", "jackson-databind"]
 mockito = ["mockito-core"]
 # junit api and launcher artifacts are different dependency types (implementation and runtime, respectively),
 # so it doesn't make sense to bundle them in a single "junit" bundle
diff --git a/maven_install.json b/maven_install.json
index c3ea00b51c..805aeafc94 100755
--- a/maven_install.json
+++ b/maven_install.json
@@ -1,29 +1,11 @@
 {
   "__AUTOGENERATED_FILE_DO_NOT_MODIFY_THIS_FILE_MANUALLY": "THERE_IS_NO_DATA_ONLY_ZUUL",
-  "__INPUT_ARTIFACTS_HASH": -473291874,
-  "__RESOLVED_ARTIFACTS_HASH": -2131718891,
+  "__INPUT_ARTIFACTS_HASH": -1041456735,
+  "__RESOLVED_ARTIFACTS_HASH": 1647610835,
   "conflict_resolution": {
     "com.google.errorprone:error_prone_annotations:2.5.1": "com.google.errorprone:error_prone_annotations:2.38.0"
   },
   "artifacts": {
-    "com.fasterxml.jackson.core:jackson-annotations": {
-      "shasums": {
-        "jar": "e516743a316dcf83c572ffc9cb6e8c5e8c134880c8c5155b02f7b34e9c5dc3cf"
-      },
-      "version": "2.19.2"
-    },
-    "com.fasterxml.jackson.core:jackson-core": {
-      "shasums": {
-        "jar": "aa77eaf29293a868c47372194f7c5287d77d9370b04ea25d3fffc1e4904b5880"
-      },
-      "version": "2.19.2"
-    },
-    "com.fasterxml.jackson.core:jackson-databind": {
-      "shasums": {
-        "jar": "0a1bd4e9b0d670e632d40ee8c625ad376233502f03c2f5889baea95d025b47a7"
-      },
-      "version": "2.19.2"
-    },
     "com.google.auto.value:auto-value": {
       "shasums": {
         "jar": "7ca3edd75517fcc8bfc420fda15d2ae2e89ebd6ed477b351caa746e44b2d5603"
@@ -114,6 +96,42 @@
       },
       "version": "4.10.0-3"
     },
+    "io.avaje:avaje-json-core": {
+      "shasums": {
+        "jar": "9a784937ea8fe888effa0056a0acc48d07b0cad6fbe5a1e6a72f3928545aab61"
+      },
+      "version": "3.11"
+    },
+    "io.avaje:avaje-jsonb": {
+      "shasums": {
+        "jar": "65a575f5eaa0cecf262de37ca91e0129d7857135f2d2d9b2e1e2dbdc502a95ce"
+      },
+      "version": "3.11"
+    },
+    "io.avaje:avaje-jsonb-generator": {
+      "shasums": {
+        "jar": "ef6b65d640b192b43d5bbeef597275e00dc9fbd9a990059d03769f7259d0bcea"
+      },
+      "version": "3.11"
+    },
+    "io.avaje:avaje-jsonb-inject-plugin": {
+      "shasums": {
+        "jar": "bc45b5e6b0624921a2cb2f9da69c31cf068619609857e1422332ce3bef022377"
+      },
+      "version": "3.11"
+    },
+    "io.avaje:avaje-spi-core": {
+      "shasums": {
+        "jar": "32ba914b9bed7da26fa40743fda4f300c393df020f76aa0176f817829c3918c5"
+      },
+      "version": "2.16"
+    },
+    "io.avaje:avaje-spi-service": {
+      "shasums": {
+        "jar": "8d8826d60e7fcebbb7b7a4f0832878cd12c280d9829dc6a206034b9ae1cfa73d"
+      },
+      "version": "2.16"
+    },
     "junit:junit": {
       "shasums": {
         "jar": "8e495b634469d64fb8acfa3495a065cbacc8a0fff55ce1e31007be4c16dc57d3"
@@ -314,10 +332,6 @@
     }
   },
   "dependencies": {
-    "com.fasterxml.jackson.core:jackson-databind": [
-      "com.fasterxml.jackson.core:jackson-annotations",
-      "com.fasterxml.jackson.core:jackson-core"
-    ],
     "com.google.auto:auto-common": [
       "com.google.guava:guava"
     ],
@@ -354,6 +368,16 @@
       "org.hamcrest:hamcrest-library",
       "org.mockito:mockito-core"
     ],
+    "io.avaje:avaje-jsonb": [
+      "io.avaje:avaje-json-core",
+      "io.avaje:avaje-jsonb-inject-plugin"
+    ],
+    "io.avaje:avaje-jsonb-generator": [
+      "io.avaje:avaje-spi-service"
+    ],
+    "io.avaje:avaje-spi-service": [
+      "io.avaje:avaje-spi-core"
+    ],
     "junit:junit": [
       "org.hamcrest:hamcrest-core"
     ],
@@ -442,50 +466,6 @@
     ]
   },
   "packages": {
-    "com.fasterxml.jackson.core:jackson-annotations": [
-      "com.fasterxml.jackson.annotation"
-    ],
-    "com.fasterxml.jackson.core:jackson-core": [
-      "com.fasterxml.jackson.core",
-      "com.fasterxml.jackson.core.async",
-      "com.fasterxml.jackson.core.base",
-      "com.fasterxml.jackson.core.exc",
-      "com.fasterxml.jackson.core.filter",
-      "com.fasterxml.jackson.core.format",
-      "com.fasterxml.jackson.core.internal.shaded.fdp.v2_19_2",
-      "com.fasterxml.jackson.core.io",
-      "com.fasterxml.jackson.core.io.schubfach",
-      "com.fasterxml.jackson.core.json",
-      "com.fasterxml.jackson.core.json.async",
-      "com.fasterxml.jackson.core.sym",
-      "com.fasterxml.jackson.core.type",
-      "com.fasterxml.jackson.core.util"
-    ],
-    "com.fasterxml.jackson.core:jackson-databind": [
-      "com.fasterxml.jackson.databind",
-      "com.fasterxml.jackson.databind.annotation",
-      "com.fasterxml.jackson.databind.cfg",
-      "com.fasterxml.jackson.databind.deser",
-      "com.fasterxml.jackson.databind.deser.impl",
-      "com.fasterxml.jackson.databind.deser.std",
-      "com.fasterxml.jackson.databind.exc",
-      "com.fasterxml.jackson.databind.ext",
-      "com.fasterxml.jackson.databind.introspect",
-      "com.fasterxml.jackson.databind.jdk14",
-      "com.fasterxml.jackson.databind.json",
-      "com.fasterxml.jackson.databind.jsonFormatVisitors",
-      "com.fasterxml.jackson.databind.jsonschema",
-      "com.fasterxml.jackson.databind.jsontype",
-      "com.fasterxml.jackson.databind.jsontype.impl",
-      "com.fasterxml.jackson.databind.module",
-      "com.fasterxml.jackson.databind.node",
-      "com.fasterxml.jackson.databind.ser",
-      "com.fasterxml.jackson.databind.ser.impl",
-      "com.fasterxml.jackson.databind.ser.std",
-      "com.fasterxml.jackson.databind.type",
-      "com.fasterxml.jackson.databind.util",
-      "com.fasterxml.jackson.databind.util.internal"
-    ],
     "com.google.auto.value:auto-value": [
       "autovalue.shaded.com.google.auto.common",
       "autovalue.shaded.com.google.auto.service",
@@ -647,6 +627,31 @@
       "org.opencv.video",
       "org.opencv.videoio"
     ],
+    "io.avaje:avaje-json-core": [
+      "io.avaje.json",
+      "io.avaje.json.core",
+      "io.avaje.json.mapper",
+      "io.avaje.json.stream",
+      "io.avaje.json.stream.core",
+      "io.avaje.json.view"
+    ],
+    "io.avaje:avaje-jsonb": [
+      "io.avaje.jsonb",
+      "io.avaje.jsonb.core",
+      "io.avaje.jsonb.spi"
+    ],
+    "io.avaje:avaje-jsonb-generator": [
+      "io.avaje.jsonb.generator"
+    ],
+    "io.avaje:avaje-jsonb-inject-plugin": [
+      "io.avaje.jsonb.inject"
+    ],
+    "io.avaje:avaje-spi-core": [
+      "io.avaje.spi.internal"
+    ],
+    "io.avaje:avaje-spi-service": [
+      "io.avaje.spi"
+    ],
     "junit:junit": [
       "junit.extensions",
       "junit.framework",
@@ -1178,9 +1183,6 @@
   },
   "repositories": {
     "https://frcmaven.wpi.edu/artifactory/release/": [
-      "com.fasterxml.jackson.core:jackson-annotations",
-      "com.fasterxml.jackson.core:jackson-core",
-      "com.fasterxml.jackson.core:jackson-databind",
       "com.google.auto.value:auto-value",
       "com.google.auto.value:auto-value-annotations",
       "com.google.auto:auto-common",
@@ -1196,6 +1198,12 @@
       "com.googlecode.junit-toolbox:junit-toolbox",
       "commons-io:commons-io",
       "edu.wpi.first.thirdparty.frc2025.opencv:opencv-java",
+      "io.avaje:avaje-json-core",
+      "io.avaje:avaje-jsonb",
+      "io.avaje:avaje-jsonb-generator",
+      "io.avaje:avaje-jsonb-inject-plugin",
+      "io.avaje:avaje-spi-core",
+      "io.avaje:avaje-spi-service",
       "junit:junit",
       "net.bytebuddy:byte-buddy",
       "net.bytebuddy:byte-buddy-agent",
@@ -1231,9 +1239,6 @@
       "us.hebi.quickbuf:quickbuf-runtime"
     ],
     "https://repo1.maven.org/maven2/": [
-      "com.fasterxml.jackson.core:jackson-annotations",
-      "com.fasterxml.jackson.core:jackson-core",
-      "com.fasterxml.jackson.core:jackson-databind",
       "com.google.auto.value:auto-value",
       "com.google.auto.value:auto-value-annotations",
       "com.google.auto:auto-common",
@@ -1249,6 +1254,12 @@
       "com.googlecode.junit-toolbox:junit-toolbox",
       "commons-io:commons-io",
       "edu.wpi.first.thirdparty.frc2025.opencv:opencv-java",
+      "io.avaje:avaje-json-core",
+      "io.avaje:avaje-jsonb",
+      "io.avaje:avaje-jsonb-generator",
+      "io.avaje:avaje-jsonb-inject-plugin",
+      "io.avaje:avaje-spi-core",
+      "io.avaje:avaje-spi-service",
       "junit:junit",
       "net.bytebuddy:byte-buddy",
       "net.bytebuddy:byte-buddy-agent",
@@ -1285,16 +1296,6 @@
     ]
   },
   "services": {
-    "com.fasterxml.jackson.core:jackson-core": {
-      "com.fasterxml.jackson.core.JsonFactory": [
-        "com.fasterxml.jackson.core.JsonFactory"
-      ]
-    },
-    "com.fasterxml.jackson.core:jackson-databind": {
-      "com.fasterxml.jackson.core.ObjectCodec": [
-        "com.fasterxml.jackson.databind.ObjectMapper"
-      ]
-    },
     "com.google.auto.value:auto-value": {
       "autovalue.shaded.kotlinx.metadata.impl.extensions.MetadataExtensions": [
         "autovalue.shaded.kotlinx.metadata.jvm.impl.JvmMetadataExtensions"
@@ -1319,6 +1320,26 @@
         "com.google.auto.value.processor.AutoValueProcessor"
       ]
     },
+    "io.avaje:avaje-jsonb-generator": {
+      "javax.annotation.processing.Processor": [
+        "io.avaje.jsonb.generator.JsonbProcessor"
+      ]
+    },
+    "io.avaje:avaje-jsonb-inject-plugin": {
+      "io.avaje.inject.spi.InjectExtension": [
+        "io.avaje.jsonb.inject.DefaultJsonbProvider"
+      ]
+    },
+    "io.avaje:avaje-spi-core": {
+      "javax.annotation.processing.Processor": [
+        "io.avaje.spi.internal.ServiceProcessor"
+      ]
+    },
+    "io.avaje:avaje-spi-service": {
+      "javax.annotation.processing.Processor": [
+        "io.avaje.spi.internal.ServiceProcessor"
+      ]
+    },
     "org.junit.jupiter:junit-jupiter-engine": {
       "org.junit.platform.engine.TestEngine": [
         "org.junit.jupiter.engine.JupiterTestEngine"
diff --git a/wpilibj/CMakeLists.txt b/wpilibj/CMakeLists.txt
index a8785b9f30..fef5983fcc 100644
--- a/wpilibj/CMakeLists.txt
+++ b/wpilibj/CMakeLists.txt
@@ -24,7 +24,7 @@ if(WITH_JAVA)
 
     file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java src/generated/main/java/*.java)
     file(GLOB EJML_JARS "${WPILIB_BINARY_DIR}/wpimath/thirdparty/ejml/*.jar")
-    file(GLOB JACKSON_JARS "${WPILIB_BINARY_DIR}/wpiutil/thirdparty/jackson/*.jar")
+    file(GLOB AVAJE_JARS "${WPILIB_BINARY_DIR}/wpiutil/thirdparty/avaje/*.jar")
 
     add_jar(
         wpilibj_jar
@@ -34,7 +34,7 @@ if(WITH_JAVA)
             hal_jar
             ntcore_jar
             ${EJML_JARS}
-            ${JACKSON_JARS}
+            ${AVAJE_JARS}
             ${OPENCV_JAR_FILE}
             cscore_jar
             cameraserver_jar
diff --git a/wpimath/BUILD.bazel b/wpimath/BUILD.bazel
index bd2e92a1c7..c318446a95 100644
--- a/wpimath/BUILD.bazel
+++ b/wpimath/BUILD.bazel
@@ -242,15 +242,17 @@ wpilib_jni_java_library(
     maven_artifact_name = "wpimath-java",
     maven_group_id = "org.wpilib.wpimath",
     native_libs = [":wpimathjni"],
+    plugins = [
+        "//:avaje_jsonb_generator",
+    ],
     resource_strip_prefix = "wpimath/src/main/proto",
     resources = glob(["src/main/proto/**"]),
     visibility = ["//visibility:public"],
     deps = [
         "//wpiunits:wpiunits-java",
         "//wpiutil:wpiutil-java",
-        "@maven//:com_fasterxml_jackson_core_jackson_annotations",
-        "@maven//:com_fasterxml_jackson_core_jackson_core",
-        "@maven//:com_fasterxml_jackson_core_jackson_databind",
+        "@maven//:io_avaje_avaje_json_core",
+        "@maven//:io_avaje_avaje_jsonb",
         "@maven//:org_ejml_ejml_core",
         "@maven//:org_ejml_ejml_ddense",
         "@maven//:org_ejml_ejml_simple",
diff --git a/wpimath/CMakeLists.txt b/wpimath/CMakeLists.txt
index 73d5210913..5160275080 100644
--- a/wpimath/CMakeLists.txt
+++ b/wpimath/CMakeLists.txt
@@ -64,7 +64,7 @@ if(WITH_JAVA)
     endif()
 
     file(GLOB EJML_JARS "${WPILIB_BINARY_DIR}/wpimath/thirdparty/ejml/*.jar")
-    file(GLOB JACKSON_JARS "${WPILIB_BINARY_DIR}/wpiutil/thirdparty/jackson/*.jar")
+    file(GLOB AVAJE_JARS "${WPILIB_BINARY_DIR}/wpiutil/thirdparty/avaje/*.jar")
     file(GLOB QUICKBUF_JAR ${WPILIB_BINARY_DIR}/wpiutil/thirdparty/quickbuf/*.jar)
 
     set(CMAKE_JNI_TARGET true)
@@ -74,7 +74,7 @@ if(WITH_JAVA)
     add_jar(
         wpimath_jar
         ${JAVA_SOURCES}
-        INCLUDE_JARS wpiutil_jar wpiunits_jar ${EJML_JARS} ${JACKSON_JARS} ${QUICKBUF_JAR}
+        INCLUDE_JARS wpiutil_jar wpiunits_jar ${EJML_JARS} ${AVAJE_JARS} ${QUICKBUF_JAR}
         OUTPUT_NAME wpimath
         OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
         GENERATE_NATIVE_HEADERS wpimath_jni_headers
diff --git a/wpimath/build.gradle b/wpimath/build.gradle
index 63c2a51a5f..92fb447fd7 100644
--- a/wpimath/build.gradle
+++ b/wpimath/build.gradle
@@ -88,9 +88,10 @@ nativeUtils.exportsConfigs {
 }
 
 dependencies {
+    annotationProcessor libs.avaje.jsonb.generator
     api project(":wpiunits")
+    api libs.avaje.jsonb
     api libs.bundles.ejml
-    api libs.bundles.jackson
     api libs.quickbuf.runtime
 }
 
diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/Pose2d.java b/wpimath/src/main/java/org/wpilib/math/geometry/Pose2d.java
index 460cd85261..e2b1eebf8f 100644
--- a/wpimath/src/main/java/org/wpilib/math/geometry/Pose2d.java
+++ b/wpimath/src/main/java/org/wpilib/math/geometry/Pose2d.java
@@ -6,10 +6,7 @@ package org.wpilib.math.geometry;
 
 import static org.wpilib.units.Units.Meters;
 
-import com.fasterxml.jackson.annotation.JsonAutoDetect;
-import com.fasterxml.jackson.annotation.JsonCreator;
-import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
-import com.fasterxml.jackson.annotation.JsonProperty;
+import io.avaje.jsonb.Json;
 import java.util.Collection;
 import java.util.Collections;
 import java.util.Comparator;
@@ -26,8 +23,7 @@ import org.wpilib.util.protobuf.ProtobufSerializable;
 import org.wpilib.util.struct.StructSerializable;
 
 /** Represents a 2D pose containing translational and rotational elements. */
-@JsonIgnoreProperties(ignoreUnknown = true)
-@JsonAutoDetect(getterVisibility = JsonAutoDetect.Visibility.NONE)
+@Json
 public class Pose2d implements Interpolatable<Pose2d>, ProtobufSerializable, StructSerializable {
   /**
    * A preallocated Pose2d representing the origin.
@@ -36,7 +32,10 @@ public class Pose2d implements Interpolatable<Pose2d>, ProtobufSerializable, Str
    */
   public static final Pose2d kZero = new Pose2d();
 
+  @Json.Property("translation")
   private final Translation2d m_translation;
+
+  @Json.Property("rotation")
   private final Rotation2d m_rotation;
 
   /** Constructs a pose at the origin facing toward the positive X axis. */
@@ -51,10 +50,8 @@ public class Pose2d implements Interpolatable<Pose2d>, ProtobufSerializable, Str
    * @param translation The translational component of the pose.
    * @param rotation The rotational component of the pose.
    */
-  @JsonCreator
-  public Pose2d(
-      @JsonProperty(required = true, value = "translation") Translation2d translation,
-      @JsonProperty(required = true, value = "rotation") Rotation2d rotation) {
+  @Json.Creator
+  public Pose2d(Translation2d translation, Rotation2d rotation) {
     m_translation = translation;
     m_rotation = rotation;
   }
@@ -129,7 +126,6 @@ public class Pose2d implements Interpolatable<Pose2d>, ProtobufSerializable, Str
    *
    * @return The translational component of the pose.
    */
-  @JsonProperty
   public Translation2d getTranslation() {
     return m_translation;
   }
@@ -175,7 +171,6 @@ public class Pose2d implements Interpolatable<Pose2d>, ProtobufSerializable, Str
    *
    * @return The rotational component of the pose.
    */
-  @JsonProperty
   public Rotation2d getRotation() {
     return m_rotation;
   }
diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/Pose3d.java b/wpimath/src/main/java/org/wpilib/math/geometry/Pose3d.java
index f27a6367ac..57d5c389fb 100644
--- a/wpimath/src/main/java/org/wpilib/math/geometry/Pose3d.java
+++ b/wpimath/src/main/java/org/wpilib/math/geometry/Pose3d.java
@@ -6,10 +6,7 @@ package org.wpilib.math.geometry;
 
 import static org.wpilib.units.Units.Meters;
 
-import com.fasterxml.jackson.annotation.JsonAutoDetect;
-import com.fasterxml.jackson.annotation.JsonCreator;
-import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
-import com.fasterxml.jackson.annotation.JsonProperty;
+import io.avaje.jsonb.Json;
 import java.util.Collection;
 import java.util.Collections;
 import java.util.Comparator;
@@ -26,8 +23,7 @@ import org.wpilib.util.protobuf.ProtobufSerializable;
 import org.wpilib.util.struct.StructSerializable;
 
 /** Represents a 3D pose containing translational and rotational elements. */
-@JsonIgnoreProperties(ignoreUnknown = true)
-@JsonAutoDetect(getterVisibility = JsonAutoDetect.Visibility.NONE)
+@Json
 public class Pose3d implements Interpolatable<Pose3d>, ProtobufSerializable, StructSerializable {
   /**
    * A preallocated Pose3d representing the origin.
@@ -36,7 +32,10 @@ public class Pose3d implements Interpolatable<Pose3d>, ProtobufSerializable, Str
    */
   public static final Pose3d kZero = new Pose3d();
 
+  @Json.Property("translation")
   private final Translation3d m_translation;
+
+  @Json.Property("rotation")
   private final Rotation3d m_rotation;
 
   /** Constructs a pose at the origin facing toward the positive X axis. */
@@ -51,10 +50,8 @@ public class Pose3d implements Interpolatable<Pose3d>, ProtobufSerializable, Str
    * @param translation The translational component of the pose.
    * @param rotation The rotational component of the pose.
    */
-  @JsonCreator
-  public Pose3d(
-      @JsonProperty(required = true, value = "translation") Translation3d translation,
-      @JsonProperty(required = true, value = "rotation") Rotation3d rotation) {
+  @Json.Creator
+  public Pose3d(Translation3d translation, Rotation3d rotation) {
     m_translation = translation;
     m_rotation = rotation;
   }
@@ -143,7 +140,6 @@ public class Pose3d implements Interpolatable<Pose3d>, ProtobufSerializable, Str
    *
    * @return The translational component of the pose.
    */
-  @JsonProperty
   public Translation3d getTranslation() {
     return m_translation;
   }
@@ -207,7 +203,6 @@ public class Pose3d implements Interpolatable<Pose3d>, ProtobufSerializable, Str
    *
    * @return The rotational component of the pose.
    */
-  @JsonProperty
   public Rotation3d getRotation() {
     return m_rotation;
   }
diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/Quaternion.java b/wpimath/src/main/java/org/wpilib/math/geometry/Quaternion.java
index 1334b8fcb4..076caa49f4 100644
--- a/wpimath/src/main/java/org/wpilib/math/geometry/Quaternion.java
+++ b/wpimath/src/main/java/org/wpilib/math/geometry/Quaternion.java
@@ -4,10 +4,7 @@
 
 package org.wpilib.math.geometry;
 
-import com.fasterxml.jackson.annotation.JsonAutoDetect;
-import com.fasterxml.jackson.annotation.JsonCreator;
-import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
-import com.fasterxml.jackson.annotation.JsonProperty;
+import io.avaje.jsonb.Json;
 import java.util.Objects;
 import org.wpilib.math.geometry.proto.QuaternionProto;
 import org.wpilib.math.geometry.struct.QuaternionStruct;
@@ -18,16 +15,15 @@ import org.wpilib.util.protobuf.ProtobufSerializable;
 import org.wpilib.util.struct.StructSerializable;
 
 /** Represents a quaternion. */
-@JsonIgnoreProperties(ignoreUnknown = true)
-@JsonAutoDetect(getterVisibility = JsonAutoDetect.Visibility.NONE)
+@Json
 public class Quaternion implements ProtobufSerializable, StructSerializable {
   // Scalar r in versor form
-  private final double m_w;
+  @Json.Ignore private final double m_w;
 
   // Vector v in versor form
-  private final double m_x;
-  private final double m_y;
-  private final double m_z;
+  @Json.Ignore private final double m_x;
+  @Json.Ignore private final double m_y;
+  @Json.Ignore private final double m_z;
 
   /** Constructs a quaternion with a default angle of 0 degrees. */
   public Quaternion() {
@@ -45,12 +41,12 @@ public class Quaternion implements ProtobufSerializable, StructSerializable {
    * @param y Y component of the quaternion.
    * @param z Z component of the quaternion.
    */
-  @JsonCreator
+  @Json.Creator
   public Quaternion(
-      @JsonProperty(required = true, value = "W") double w,
-      @JsonProperty(required = true, value = "X") double x,
-      @JsonProperty(required = true, value = "Y") double y,
-      @JsonProperty(required = true, value = "Z") double z) {
+      @Json.Alias("W") double w,
+      @Json.Alias("X") double x,
+      @Json.Alias("Y") double y,
+      @Json.Alias("Z") double z) {
     m_w = w;
     m_x = x;
     m_y = y;
@@ -291,7 +287,7 @@ public class Quaternion implements ProtobufSerializable, StructSerializable {
    *
    * @return W component of the quaternion.
    */
-  @JsonProperty(value = "W")
+  @Json.Property(value = "W")
   public double getW() {
     return m_w;
   }
@@ -301,7 +297,7 @@ public class Quaternion implements ProtobufSerializable, StructSerializable {
    *
    * @return X component of the quaternion.
    */
-  @JsonProperty(value = "X")
+  @Json.Property(value = "X")
   public double getX() {
     return m_x;
   }
@@ -311,7 +307,7 @@ public class Quaternion implements ProtobufSerializable, StructSerializable {
    *
    * @return Y component of the quaternion.
    */
-  @JsonProperty(value = "Y")
+  @Json.Property(value = "Y")
   public double getY() {
     return m_y;
   }
@@ -321,7 +317,7 @@ public class Quaternion implements ProtobufSerializable, StructSerializable {
    *
    * @return Z component of the quaternion.
    */
-  @JsonProperty(value = "Z")
+  @Json.Property(value = "Z")
   public double getZ() {
     return m_z;
   }
diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/Rotation2d.java b/wpimath/src/main/java/org/wpilib/math/geometry/Rotation2d.java
index 5ffcd01ecc..ec64a2c50a 100644
--- a/wpimath/src/main/java/org/wpilib/math/geometry/Rotation2d.java
+++ b/wpimath/src/main/java/org/wpilib/math/geometry/Rotation2d.java
@@ -6,10 +6,7 @@ package org.wpilib.math.geometry;
 
 import static org.wpilib.units.Units.Radians;
 
-import com.fasterxml.jackson.annotation.JsonAutoDetect;
-import com.fasterxml.jackson.annotation.JsonCreator;
-import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
-import com.fasterxml.jackson.annotation.JsonProperty;
+import io.avaje.jsonb.Json;
 import java.util.Objects;
 import org.wpilib.math.geometry.proto.Rotation2dProto;
 import org.wpilib.math.geometry.struct.Rotation2dStruct;
@@ -27,8 +24,7 @@ import org.wpilib.util.struct.StructSerializable;
 /**
  * A rotation in a 2D coordinate frame represented by a point on the unit circle (cosine and sine).
  */
-@JsonIgnoreProperties(ignoreUnknown = true)
-@JsonAutoDetect(getterVisibility = JsonAutoDetect.Visibility.NONE)
+@Json
 public class Rotation2d
     implements Interpolatable<Rotation2d>, ProtobufSerializable, StructSerializable {
   /**
@@ -80,8 +76,8 @@ public class Rotation2d
    */
   public static final Rotation2d k180deg = kPi;
 
-  private final double m_cos;
-  private final double m_sin;
+  @Json.Ignore private final double m_cos;
+  @Json.Ignore private final double m_sin;
 
   /** Constructs a Rotation2d with a default angle of 0 degrees. */
   public Rotation2d() {
@@ -94,8 +90,8 @@ public class Rotation2d
    *
    * @param value The value of the angle in radians.
    */
-  @JsonCreator
-  public Rotation2d(@JsonProperty(required = true, value = "radians") double value) {
+  @Json.Creator
+  public Rotation2d(@Json.Alias(value = "radians") double value) {
     m_cos = Math.cos(value);
     m_sin = Math.sin(value);
   }
@@ -300,7 +296,7 @@ public class Rotation2d
    *
    * @return The radian value of the Rotation2d constrained within [-π, π].
    */
-  @JsonProperty
+  @Json.Property("radians")
   public double getRadians() {
     return Math.atan2(m_sin, m_cos);
   }
diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/Rotation3d.java b/wpimath/src/main/java/org/wpilib/math/geometry/Rotation3d.java
index e0e9a43fb9..9d3ccbb486 100644
--- a/wpimath/src/main/java/org/wpilib/math/geometry/Rotation3d.java
+++ b/wpimath/src/main/java/org/wpilib/math/geometry/Rotation3d.java
@@ -6,10 +6,7 @@ package org.wpilib.math.geometry;
 
 import static org.wpilib.units.Units.Radians;
 
-import com.fasterxml.jackson.annotation.JsonAutoDetect;
-import com.fasterxml.jackson.annotation.JsonCreator;
-import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
-import com.fasterxml.jackson.annotation.JsonProperty;
+import io.avaje.jsonb.Json;
 import java.util.Objects;
 import org.wpilib.math.geometry.proto.Rotation3dProto;
 import org.wpilib.math.geometry.struct.Rotation3dStruct;
@@ -68,8 +65,7 @@ import org.wpilib.util.struct.StructSerializable;
  * rotation. A neat property is that applying a series of rotations extrinsically is the same as
  * applying the same series in the opposite order intrinsically.
  */
-@JsonIgnoreProperties(ignoreUnknown = true)
-@JsonAutoDetect(getterVisibility = JsonAutoDetect.Visibility.NONE)
+@Json
 public class Rotation3d
     implements Interpolatable<Rotation3d>, ProtobufSerializable, StructSerializable {
   /**
@@ -79,6 +75,7 @@ public class Rotation3d
    */
   public static final Rotation3d kZero = new Rotation3d();
 
+  @Json.Property("quaternion")
   private final Quaternion m_q;
 
   /** Constructs a Rotation3d representing no rotation. */
@@ -91,8 +88,8 @@ public class Rotation3d
    *
    * @param q The quaternion.
    */
-  @JsonCreator
-  public Rotation3d(@JsonProperty(required = true, value = "quaternion") Quaternion q) {
+  @Json.Creator
+  public Rotation3d(@Json.Alias("quaternion") Quaternion q) {
     m_q = q.normalize();
   }
 
@@ -393,7 +390,6 @@ public class Rotation3d
    *
    * @return The quaternion representation of the Rotation3d.
    */
-  @JsonProperty(value = "quaternion")
   public Quaternion getQuaternion() {
     return m_q;
   }
diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/Translation2d.java b/wpimath/src/main/java/org/wpilib/math/geometry/Translation2d.java
index 1e5e7574f1..b2359ca256 100644
--- a/wpimath/src/main/java/org/wpilib/math/geometry/Translation2d.java
+++ b/wpimath/src/main/java/org/wpilib/math/geometry/Translation2d.java
@@ -6,10 +6,7 @@ package org.wpilib.math.geometry;
 
 import static org.wpilib.units.Units.Meters;
 
-import com.fasterxml.jackson.annotation.JsonAutoDetect;
-import com.fasterxml.jackson.annotation.JsonCreator;
-import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
-import com.fasterxml.jackson.annotation.JsonProperty;
+import io.avaje.jsonb.Json;
 import java.util.Collection;
 import java.util.Collections;
 import java.util.Comparator;
@@ -31,8 +28,7 @@ import org.wpilib.util.struct.StructSerializable;
  * <p>This assumes that you are using conventional mathematical axes. When the robot is at the
  * origin facing in the positive X direction, forward is positive X and left is positive Y.
  */
-@JsonIgnoreProperties(ignoreUnknown = true)
-@JsonAutoDetect(getterVisibility = JsonAutoDetect.Visibility.NONE)
+@Json
 public class Translation2d
     implements Interpolatable<Translation2d>, ProtobufSerializable, StructSerializable {
   /**
@@ -42,7 +38,10 @@ public class Translation2d
    */
   public static final Translation2d kZero = new Translation2d();
 
+  @Json.Property("x")
   private final double m_x;
+
+  @Json.Property("y")
   private final double m_y;
 
   /** Constructs a Translation2d with X and Y components equal to zero. */
@@ -56,10 +55,8 @@ public class Translation2d
    * @param x The x component of the translation.
    * @param y The y component of the translation.
    */
-  @JsonCreator
-  public Translation2d(
-      @JsonProperty(required = true, value = "x") double x,
-      @JsonProperty(required = true, value = "y") double y) {
+  @Json.Creator
+  public Translation2d(double x, double y) {
     m_x = x;
     m_y = y;
   }
@@ -130,7 +127,6 @@ public class Translation2d
    *
    * @return The X component of the translation.
    */
-  @JsonProperty
   public double getX() {
     return m_x;
   }
@@ -140,7 +136,6 @@ public class Translation2d
    *
    * @return The Y component of the translation.
    */
-  @JsonProperty
   public double getY() {
     return m_y;
   }
diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/Translation3d.java b/wpimath/src/main/java/org/wpilib/math/geometry/Translation3d.java
index 7b72d52aab..146f749193 100644
--- a/wpimath/src/main/java/org/wpilib/math/geometry/Translation3d.java
+++ b/wpimath/src/main/java/org/wpilib/math/geometry/Translation3d.java
@@ -6,10 +6,7 @@ package org.wpilib.math.geometry;
 
 import static org.wpilib.units.Units.Meters;
 
-import com.fasterxml.jackson.annotation.JsonAutoDetect;
-import com.fasterxml.jackson.annotation.JsonCreator;
-import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
-import com.fasterxml.jackson.annotation.JsonProperty;
+import io.avaje.jsonb.Json;
 import java.util.Collection;
 import java.util.Collections;
 import java.util.Comparator;
@@ -32,8 +29,7 @@ import org.wpilib.util.struct.StructSerializable;
  * origin facing in the positive X direction, forward is positive X, left is positive Y, and up is
  * positive Z.
  */
-@JsonIgnoreProperties(ignoreUnknown = true)
-@JsonAutoDetect(getterVisibility = JsonAutoDetect.Visibility.NONE)
+@Json
 public class Translation3d
     implements Interpolatable<Translation3d>, ProtobufSerializable, StructSerializable {
   /**
@@ -43,8 +39,13 @@ public class Translation3d
    */
   public static final Translation3d kZero = new Translation3d();
 
+  @Json.Property("x")
   private final double m_x;
+
+  @Json.Property("y")
   private final double m_y;
+
+  @Json.Property("z")
   private final double m_z;
 
   /** Constructs a Translation3d with X, Y, and Z components equal to zero. */
@@ -59,11 +60,8 @@ public class Translation3d
    * @param y The y component of the translation.
    * @param z The z component of the translation.
    */
-  @JsonCreator
-  public Translation3d(
-      @JsonProperty(required = true, value = "x") double x,
-      @JsonProperty(required = true, value = "y") double y,
-      @JsonProperty(required = true, value = "z") double z) {
+  @Json.Creator
+  public Translation3d(double x, double y, double z) {
     m_x = x;
     m_y = y;
     m_z = z;
@@ -152,7 +150,6 @@ public class Translation3d
    *
    * @return The X component of the translation.
    */
-  @JsonProperty
   public double getX() {
     return m_x;
   }
@@ -162,7 +159,6 @@ public class Translation3d
    *
    * @return The Y component of the translation.
    */
-  @JsonProperty
   public double getY() {
     return m_y;
   }
@@ -172,7 +168,6 @@ public class Translation3d
    *
    * @return The Z component of the translation.
    */
-  @JsonProperty
   public double getZ() {
     return m_z;
   }
diff --git a/wpimath/src/main/java/org/wpilib/math/trajectory/Trajectory.java b/wpimath/src/main/java/org/wpilib/math/trajectory/Trajectory.java
index ae16d0f1f3..9455dbc1e1 100644
--- a/wpimath/src/main/java/org/wpilib/math/trajectory/Trajectory.java
+++ b/wpimath/src/main/java/org/wpilib/math/trajectory/Trajectory.java
@@ -4,7 +4,7 @@
 
 package org.wpilib.math.trajectory;
 
-import com.fasterxml.jackson.annotation.JsonProperty;
+import io.avaje.jsonb.Json;
 import java.util.ArrayList;
 import java.util.List;
 import java.util.Objects;
@@ -256,23 +256,23 @@ public class Trajectory implements ProtobufSerializable {
     public static final TrajectoryStateProto proto = new TrajectoryStateProto();
 
     /** The time elapsed since the beginning of the trajectory in seconds. */
-    @JsonProperty("time")
+    @Json.Property("time")
     public double time;
 
     /** The velocity at that point of the trajectory in meters per second. */
-    @JsonProperty("velocity")
+    @Json.Property("velocity")
     public double velocity;
 
     /** The acceleration at that point of the trajectory in m/s². */
-    @JsonProperty("acceleration")
+    @Json.Property("acceleration")
     public double acceleration;
 
     /** The pose at that point of the trajectory. */
-    @JsonProperty("pose")
+    @Json.Property("pose")
     public Pose2d pose;
 
     /** The curvature at that point of the trajectory in rad/m. */
-    @JsonProperty("curvature")
+    @Json.Property("curvature")
     public double curvature;
 
     /** Default constructor. */
diff --git a/wpiutil/BUILD.bazel b/wpiutil/BUILD.bazel
index 39b3937519..0d31c0b645 100644
--- a/wpiutil/BUILD.bazel
+++ b/wpiutil/BUILD.bazel
@@ -279,9 +279,6 @@ wpilib_jni_java_library(
     native_libs = [":wpiutiljni"],
     visibility = ["//visibility:public"],
     deps = [
-        "@maven//:com_fasterxml_jackson_core_jackson_annotations",
-        "@maven//:com_fasterxml_jackson_core_jackson_core",
-        "@maven//:com_fasterxml_jackson_core_jackson_databind",
         "@maven//:us_hebi_quickbuf_quickbuf_runtime",
     ],
 )
diff --git a/wpiutil/CMakeLists.txt b/wpiutil/CMakeLists.txt
index 70ee007590..168943ba20 100644
--- a/wpiutil/CMakeLists.txt
+++ b/wpiutil/CMakeLists.txt
@@ -12,29 +12,41 @@ file(GLOB wpiutil_jni_src src/main/native/cpp/jni/WPIUtilJNI.cpp)
 if(WITH_JAVA)
     include(UseJava)
 
-    if(NOT EXISTS "${WPILIB_BINARY_DIR}/wpiutil/thirdparty/jackson/jackson-core-2.19.2.jar")
+    if(NOT EXISTS "${WPILIB_BINARY_DIR}/wpiutil/thirdparty/avaje/avaje-jsonb-3.11.jar")
         set(BASE_URL "https://search.maven.org/remotecontent?filepath=")
-        set(JAR_ROOT "${WPILIB_BINARY_DIR}/wpiutil/thirdparty/jackson")
+        set(JAR_ROOT "${WPILIB_BINARY_DIR}/wpiutil/thirdparty/avaje")
 
-        message(STATUS "Downloading Jackson jarfiles...")
+        message(STATUS "Downloading Avaje jarfiles...")
 
         download_and_check(
-            "${BASE_URL}com/fasterxml/jackson/core/jackson-core/2.19.2/jackson-core-2.19.2.jar"
-            "${JAR_ROOT}/jackson-core-2.19.2.jar"
+            "${BASE_URL}io/avaje/avaje-jsonb/3.11/avaje-jsonb-3.11.jar"
+            "${JAR_ROOT}/avaje-jsonb-3.11.jar"
         )
         download_and_check(
-            "${BASE_URL}com/fasterxml/jackson/core/jackson-databind/2.19.2/jackson-databind-2.19.2.jar"
-            "${JAR_ROOT}/jackson-databind-2.19.2.jar"
+            "${BASE_URL}io/avaje/avaje-json-core/3.11/avaje-json-core-3.11.jar"
+            "${JAR_ROOT}/avaje-json-core-3.11.jar"
         )
         download_and_check(
-            "${BASE_URL}com/fasterxml/jackson/core/jackson-annotations/2.19.2/jackson-annotations-2.19.2.jar"
-            "${JAR_ROOT}/jackson-annotations-2.19.2.jar"
+            "${BASE_URL}io/avaje/avaje-jsonb-inject-plugin/3.11/avaje-jsonb-inject-plugin-3.11.jar"
+            "${JAR_ROOT}/avaje-jsonb-inject-plugin-3.11.jar"
+        )
+        download_and_check(
+            "${BASE_URL}io/avaje/avaje-jsonb-generator/3.11/avaje-jsonb-generator-3.11.jar"
+            "${JAR_ROOT}/avaje-jsonb-generator-3.11.jar"
+        )
+        download_and_check(
+            "${BASE_URL}io/avaje/avaje-spi-service/2.16/avaje-spi-service-2.16.jar"
+            "${JAR_ROOT}/avaje-spi-service-2.16.jar"
+        )
+        download_and_check(
+            "${BASE_URL}io/avaje/avaje-spi-core/2.16/avaje-spi-core-2.16.jar"
+            "${JAR_ROOT}/avaje-spi-core-2.16.jar"
         )
 
         message(STATUS "All files downloaded.")
     endif()
 
-    file(GLOB JACKSON_JARS ${WPILIB_BINARY_DIR}/wpiutil/thirdparty/jackson/*.jar)
+    file(GLOB AVAJE_JARS ${WPILIB_BINARY_DIR}/wpiutil/thirdparty/avaje/*.jar)
 
     if(NOT EXISTS "${WPILIB_BINARY_DIR}/wpiutil/thirdparty/quickbuf/quickbuf-runtime-1.4.jar")
         set(BASE_URL "https://search.maven.org/remotecontent?filepath=")
@@ -58,7 +70,7 @@ if(WITH_JAVA)
     add_jar(
         wpiutil_jar
         ${JAVA_SOURCES}
-        INCLUDE_JARS ${JACKSON_JARS} ${QUICKBUF_JAR}
+        INCLUDE_JARS ${AVAJE_JARS} ${QUICKBUF_JAR}
         OUTPUT_NAME wpiutil
         OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
         GENERATE_NATIVE_HEADERS wpiutil_jni_headers
diff --git a/wpiutil/build.gradle b/wpiutil/build.gradle
index ea4c7aec36..3b117b0871 100644
--- a/wpiutil/build.gradle
+++ b/wpiutil/build.gradle
@@ -285,6 +285,7 @@ model {
 }
 
 dependencies {
-    api libs.bundles.jackson
+    annotationProcessor libs.avaje.jsonb.generator
+    api libs.avaje.jsonb
     api libs.quickbuf.runtime
 }