diff --git a/cameraserver/src/main/native/cpp/vision/VisionRunner.cpp b/cameraserver/src/main/native/cpp/vision/VisionRunner.cpp
index 990cb3a14a..a0164a0fbe 100644
--- a/cameraserver/src/main/native/cpp/vision/VisionRunner.cpp
+++ b/cameraserver/src/main/native/cpp/vision/VisionRunner.cpp
@@ -24,7 +24,7 @@ VisionRunnerBase::VisionRunnerBase(cs::VideoSource videoSource)
 VisionRunnerBase::~VisionRunnerBase() = default;
 
 void VisionRunnerBase::RunOnce() {
-  auto csShared = wpi::vision::GetCameraServerShared();
+  auto csShared = wpi::GetCameraServerShared();
   auto res = csShared->GetRobotMainThreadId();
   if (res.second && (std::this_thread::get_id() == res.first)) {
     csShared->SetVisionRunnerError(
@@ -41,7 +41,7 @@ void VisionRunnerBase::RunOnce() {
 }
 
 void VisionRunnerBase::RunForever() {
-  auto csShared = wpi::vision::GetCameraServerShared();
+  auto csShared = wpi::GetCameraServerShared();
   auto res = csShared->GetRobotMainThreadId();
   if (res.second && (std::this_thread::get_id() == res.first)) {
     csShared->SetVisionRunnerError(
diff --git a/commandsv2/src/main/native/cpp/frc2/command/button/Trigger.cpp b/commandsv2/src/main/native/cpp/frc2/command/button/Trigger.cpp
index ba8909fd4b..8382d40f75 100644
--- a/commandsv2/src/main/native/cpp/frc2/command/button/Trigger.cpp
+++ b/commandsv2/src/main/native/cpp/frc2/command/button/Trigger.cpp
@@ -9,7 +9,7 @@
 #include "wpi/commands2/CommandPtr.hpp"
 #include "wpi/math/filter/Debouncer.hpp"
 
-using namespace frc;
+using namespace wpi;
 using namespace wpi::cmd;
 
 Trigger::Trigger(const Trigger& other) = default;
diff --git a/datalog/src/main/native/include/wpi/datalog/DataLog.hpp b/datalog/src/main/native/include/wpi/datalog/DataLog.hpp
index da823809a7..e2ad942e02 100644
--- a/datalog/src/main/native/include/wpi/datalog/DataLog.hpp
+++ b/datalog/src/main/native/include/wpi/datalog/DataLog.hpp
@@ -161,7 +161,7 @@ class DataLog {
   template <wpi::util::ProtobufSerializable T>
   void AddProtobufSchema(wpi::util::ProtobufMessage<T>& msg, int64_t timestamp = 0) {
     if (timestamp == 0) {
-      timestamp = Now();
+      timestamp = wpi::util::Now();
     }
     msg.ForEachProtobufDescriptor(
         [this](auto typeString) { return HasSchema(typeString); },
@@ -182,7 +182,7 @@ class DataLog {
     requires wpi::util::StructSerializable<T, I...>
   void AddStructSchema(const I&... info, int64_t timestamp = 0) {
     if (timestamp == 0) {
-      timestamp = Now();
+      timestamp = wpi::util::Now();
     }
     wpi::util::ForEachStructSchema<T>(
         [this, timestamp](auto typeString, auto schema) {
diff --git a/romiVendordep/src/main/native/include/wpi/romi/RomiMotor.hpp b/romiVendordep/src/main/native/include/wpi/romi/RomiMotor.hpp
index 505735718f..92ed28a543 100644
--- a/romiVendordep/src/main/native/include/wpi/romi/RomiMotor.hpp
+++ b/romiVendordep/src/main/native/include/wpi/romi/RomiMotor.hpp
@@ -18,7 +18,7 @@ namespace wpi::romi {
  *
  * A general use PWM motor controller representing the motors on a Romi robot
  */
-class RomiMotor : public PWMMotorController {
+class RomiMotor : public wpi::PWMMotorController {
  public:
   /**
    * Constructor for a RomiMotor.
diff --git a/tools/sysid/src/main/native/cpp/view/Analyzer.cpp b/tools/sysid/src/main/native/cpp/view/Analyzer.cpp
index cc39f90c15..a5d8e0fd59 100644
--- a/tools/sysid/src/main/native/cpp/view/Analyzer.cpp
+++ b/tools/sysid/src/main/native/cpp/view/Analyzer.cpp
@@ -612,9 +612,9 @@ void Analyzer::DisplayFeedbackGains() {
   sysid::CreateTooltip(
       "Gain presets represent how feedback gains are calculated for your "
       "specific feedback controller:\n\n"
-      "Default, WPILib (2020-): For use with the new WPILib wpi::math::PIDController "
+      "Default, WPILib (2020-): For use with the new WPILib PIDController "
       "class.\n"
-      "WPILib (Pre-2020): For use with the old WPILib wpi::math::PIDController class.\n"
+      "WPILib (Pre-2020): For use with the old WPILib PIDController class.\n"
       "CTRE: For use with CTRE units. These are the default units that ship "
       "with CTRE motor controllers.\n"
       "REV (Brushless): For use with NEO and NEO 550 motors on a SPARK MAX.\n"
diff --git a/tools/sysid/src/main/native/include/wpi/sysid/view/DataSelector.hpp b/tools/sysid/src/main/native/include/wpi/sysid/view/DataSelector.hpp
index 6f8f39d984..4bbb44c989 100644
--- a/tools/sysid/src/main/native/include/wpi/sysid/view/DataSelector.hpp
+++ b/tools/sysid/src/main/native/include/wpi/sysid/view/DataSelector.hpp
@@ -25,7 +25,9 @@ namespace wpi {
 namespace log {
 class DataLogReaderEntry;
 }  // namespace log
-class wpi::util::Logger;
+namespace util {
+class Logger;
+}
 }  // namespace wpi
 
 namespace sysid {
diff --git a/tools/sysid/src/main/native/include/wpi/sysid/view/LogLoader.hpp b/tools/sysid/src/main/native/include/wpi/sysid/view/LogLoader.hpp
index 0f5edec62d..bc56267242 100644
--- a/tools/sysid/src/main/native/include/wpi/sysid/view/LogLoader.hpp
+++ b/tools/sysid/src/main/native/include/wpi/sysid/view/LogLoader.hpp
@@ -25,7 +25,9 @@ namespace log {
 class DataLogReaderEntry;
 class DataLogReaderThread;
 }  // namespace log
-class wpi::util::Logger;
+namespace util {
+class Logger;
+}
 }  // namespace wpi
 
 namespace sysid {
diff --git a/tools/sysid/src/test/native/cpp/analysis/FilterTest.cpp b/tools/sysid/src/test/native/cpp/analysis/FilterTest.cpp
index e446cc2a5c..18ac82f3cd 100644
--- a/tools/sysid/src/test/native/cpp/analysis/FilterTest.cpp
+++ b/tools/sysid/src/test/native/cpp/analysis/FilterTest.cpp
@@ -13,7 +13,7 @@
 #include "wpi/sysid/analysis/FilteringUtils.hpp"
 #include "wpi/sysid/analysis/Storage.hpp"
 
-TEST(FilterTest, wpi::math::MedianFilter) {
+TEST(FilterTest, MedianFilter) {
   std::vector<sysid::PreparedData> testData{
       sysid::PreparedData{0_s, 0, 0, 0},    sysid::PreparedData{0_s, 0, 0, 1},
       sysid::PreparedData{0_s, 0, 0, 10},   sysid::PreparedData{0_s, 0, 0, 5},
diff --git a/tools/wpical/src/main/native/thirdparty/mrcal/src/poseutils-uses-autodiff.cpp b/tools/wpical/src/main/native/thirdparty/mrcal/src/poseutils-uses-autodiff.cpp
index 39b31408a8..deb4670887 100644
--- a/tools/wpical/src/main/native/thirdparty/mrcal/src/poseutils-uses-autodiff.cpp
+++ b/tools/wpical/src/main/native/thirdparty/mrcal/src/poseutils-uses-autodiff.cpp
@@ -288,7 +288,7 @@ compose_r_core(// output
 
     Described here:
 
-        Altmann, Simon L. "Hamilton, Rodrigues, and the wpi::math::Quaternion Scandal."
+        Altmann, Simon L. "Hamilton, Rodrigues, and the Quaternion Scandal."
         Mathematics Magazine, vol. 62, no. 5, 1989, pp. 291–308
 
     Available here:
diff --git a/wpilibc/src/main/native/cpp/smartdashboard/MechanismRoot2d.cpp b/wpilibc/src/main/native/cpp/smartdashboard/MechanismRoot2d.cpp
index a86ef26a86..806f7c60f9 100644
--- a/wpilibc/src/main/native/cpp/smartdashboard/MechanismRoot2d.cpp
+++ b/wpilibc/src/main/native/cpp/smartdashboard/MechanismRoot2d.cpp
@@ -6,6 +6,8 @@
 
 #include "wpi/util/Color8Bit.hpp"
 
+#include <memory>
+
 using namespace wpi;
 
 MechanismRoot2d::MechanismRoot2d(std::string_view name, double x, double y,
diff --git a/wpilibc/src/main/native/include/wpi/event/NetworkBooleanEvent.hpp b/wpilibc/src/main/native/include/wpi/event/NetworkBooleanEvent.hpp
index 6c938e1adc..268b947d91 100644
--- a/wpilibc/src/main/native/include/wpi/event/NetworkBooleanEvent.hpp
+++ b/wpilibc/src/main/native/include/wpi/event/NetworkBooleanEvent.hpp
@@ -9,7 +9,7 @@
 
 #include "wpi/event/BooleanEvent.hpp"
 
-namespace nt {
+namespace wpi::nt {
 class BooleanSubscriber;
 class BooleanTopic;
 class NetworkTable;
diff --git a/wpilibc/src/main/native/include/wpi/smartdashboard/FieldObject2d.hpp b/wpilibc/src/main/native/include/wpi/smartdashboard/FieldObject2d.hpp
index 47ab8a0fc2..a79b568a98 100644
--- a/wpilibc/src/main/native/include/wpi/smartdashboard/FieldObject2d.hpp
+++ b/wpilibc/src/main/native/include/wpi/smartdashboard/FieldObject2d.hpp
@@ -17,10 +17,13 @@
 #include "wpi/util/SmallVector.hpp"
 #include "wpi/util/mutex.hpp"
 
+namespace wpi::math {
+class Trajectory;
+}
+
 namespace wpi {
 
 class Field2d;
-class wpi::math::Trajectory;
 
 /**
  * Game field object on a Field2d.
diff --git a/wpilibc/src/main/native/include/wpi/smartdashboard/SmartDashboard.hpp b/wpilibc/src/main/native/include/wpi/smartdashboard/SmartDashboard.hpp
index 9b354d0630..07ffb78f4e 100644
--- a/wpilibc/src/main/native/include/wpi/smartdashboard/SmartDashboard.hpp
+++ b/wpilibc/src/main/native/include/wpi/smartdashboard/SmartDashboard.hpp
@@ -14,7 +14,7 @@
 #include "wpi/nt/NetworkTableEntry.hpp"
 #include "wpi/nt/NetworkTableValue.hpp"
 
-namespace wpi {
+namespace wpi::util {
 class Sendable;
 }  // namespace wpi
 
diff --git a/wpilibc/src/main/python/semiwrap/simulation/DifferentialDrivetrainSim.yml b/wpilibc/src/main/python/semiwrap/simulation/DifferentialDrivetrainSim.yml
index 8c779e82c4..16d7dcb62b 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/DifferentialDrivetrainSim.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/DifferentialDrivetrainSim.yml
@@ -2,7 +2,7 @@ classes:
   wpi::sim::DifferentialDrivetrainSim:
     typealias:
     - wpi::math::DCMotor
-    - template <int S, int I, int O> using wpi::math::LinearSystem = wpi::math::LinearSystem<S, I, O>
+    - template <int S, int I, int O> using LinearSystem = wpi::math::LinearSystem<S, I, O>
     methods:
       DifferentialDrivetrainSim:
         overloads:
diff --git a/wpilibc/src/main/python/semiwrap/simulation/ElevatorSim.yml b/wpilibc/src/main/python/semiwrap/simulation/ElevatorSim.yml
index b086ba47ed..2170e0413b 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/ElevatorSim.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/ElevatorSim.yml
@@ -2,8 +2,8 @@ classes:
   wpi::sim::ElevatorSim:
     typealias:
     - wpi::math::DCMotor
-    - template <int S, int I, int O> using wpi::math::LinearSystem = wpi::math::LinearSystem<S, I, O>
-    - template <int I> using wpi::math::Vectord = wpi::math::Vectord<I>
+    - template <int S, int I, int O> using LinearSystem = wpi::math::LinearSystem<S, I, O>
+    - template <int I> using Vectord = wpi::math::Vectord<I>
     methods:
       ElevatorSim:
         overloads:
diff --git a/wpilibc/src/main/python/semiwrap/simulation/FlywheelSim.yml b/wpilibc/src/main/python/semiwrap/simulation/FlywheelSim.yml
index 23b2c4d0c2..931b684c48 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/FlywheelSim.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/FlywheelSim.yml
@@ -2,7 +2,7 @@ classes:
   wpi::sim::FlywheelSim:
     typealias:
     - wpi::math::DCMotor
-    - template <int S, int I, int O> using wpi::math::LinearSystem = wpi::math::LinearSystem<S, I, O>
+    - template <int S, int I, int O> using LinearSystem = wpi::math::LinearSystem<S, I, O>
     methods:
       FlywheelSim:
         overloads:
diff --git a/wpilibc/src/main/python/semiwrap/simulation/LinearSystemSim.yml b/wpilibc/src/main/python/semiwrap/simulation/LinearSystemSim.yml
index 0006ff4b43..040e2a3426 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/LinearSystemSim.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/LinearSystemSim.yml
@@ -1,8 +1,8 @@
 classes:
   wpi::sim::LinearSystemSim:
     typealias:
-    - template <int S, int I, int O> using wpi::math::LinearSystem = wpi::math::LinearSystem<S, I, O>
-    - template <int I> using wpi::math::Vectord = wpi::math::Vectord<I>
+    - template <int S, int I, int O> using LinearSystem = wpi::math::LinearSystem<S, I, O>
+    - template <int I> using Vectord = wpi::math::Vectord<I>
     template_params:
     - int States
     - int Inputs
diff --git a/wpilibc/src/main/python/semiwrap/simulation/SingleJointedArmSim.yml b/wpilibc/src/main/python/semiwrap/simulation/SingleJointedArmSim.yml
index 08cf0b5e78..51bc81431d 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/SingleJointedArmSim.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/SingleJointedArmSim.yml
@@ -2,8 +2,8 @@ classes:
   wpi::sim::SingleJointedArmSim:
     typealias:
     - wpi::math::DCMotor
-    - template <int S, int I, int O> using wpi::math::LinearSystem = wpi::math::LinearSystem<S, I, O>
-    - template <int I> using wpi::math::Vectord = wpi::math::Vectord<I>
+    - template <int S, int I, int O> using LinearSystem = wpi::math::LinearSystem<S, I, O>
+    - template <int I> using Vectord = wpi::math::Vectord<I>
     methods:
       SingleJointedArmSim:
         overloads:
diff --git a/wpilibc/src/main/python/wpilib/simulation/simulation.cpp b/wpilibc/src/main/python/wpilib/simulation/simulation.cpp
index e3f880e905..c562e91cb3 100644
--- a/wpilibc/src/main/python/wpilib/simulation/simulation.cpp
+++ b/wpilibc/src/main/python/wpilib/simulation/simulation.cpp
@@ -8,14 +8,14 @@ void ResetSmartDashboardInstance();
 void ResetMotorSafety();
 } // namespace wpi::impl
 
-namespace wpi::impl {
+namespace wpi::util::impl {
 void ResetSendableRegistry();
 } // namespace wpi::impl
 
 void resetWpilibSimulationData() {
   wpi::impl::ResetSmartDashboardInstance();
   wpi::impl::ResetMotorSafety();
-  wpi::impl::ResetSendableRegistry();
+  wpi::util::impl::ResetSendableRegistry();
 }
 
 void resetMotorSafety() {
diff --git a/wpilibj/src/main/java/org/wpilib/system/DataLogManager.java b/wpilibj/src/main/java/org/wpilib/system/DataLogManager.java
index 337804d041..e1d8bf8ab5 100644
--- a/wpilibj/src/main/java/org/wpilib/system/DataLogManager.java
+++ b/wpilibj/src/main/java/org/wpilib/system/DataLogManager.java
@@ -271,7 +271,7 @@ public final class DataLogManager {
       return filenameOverride;
     }
     Random rnd = new Random();
-    StringBuilder filename = new StringBuilder();
+    StringBuilder filename = new StringBuilder(18);
     filename.append("FRC_TBD_");
     for (int i = 0; i < 4; i++) {
       filename.append(String.format("%04x", rnd.nextInt(0x10000)));
diff --git a/wpimath/src/test/native/cpp/UnitsTest.cpp b/wpimath/src/test/native/cpp/UnitsTest.cpp
index 2440a9c8a3..bf27ea49c0 100644
--- a/wpimath/src/test/native/cpp/UnitsTest.cpp
+++ b/wpimath/src/test/native/cpp/UnitsTest.cpp
@@ -87,7 +87,7 @@ using namespace wpi::units::torque;
 using namespace wpi::units::velocity;
 using namespace wpi::units::voltage;
 using namespace wpi::units::volume;
-using namespace units;
+using namespace wpi::units;
 
 #if !defined(_MSC_VER) || _MSC_VER > 1800
 using namespace wpi::units::literals;
diff --git a/wpinet/robotpy_pybind_build_info.bzl b/wpinet/robotpy_pybind_build_info.bzl
index 322860de28..7a6b190cf2 100644
--- a/wpinet/robotpy_pybind_build_info.bzl
+++ b/wpinet/robotpy_pybind_build_info.bzl
@@ -13,7 +13,7 @@ def wpinet_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includ
             header_file = "$(execpath :robotpy-native-wpinet.copy_headers)/wpi/net/PortForwarder.hpp",
             tmpl_class_names = [],
             trampolines = [
-                ("wpi::PortForwarder", "wpi__PortForwarder.hpp"),
+                ("wpi::net::PortForwarder", "wpi__net__PortForwarder.hpp"),
             ],
         ),
         struct(
@@ -23,7 +23,7 @@ def wpinet_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includ
             header_file = "$(execpath :robotpy-native-wpinet.copy_headers)/wpi/net/WebServer.hpp",
             tmpl_class_names = [],
             trampolines = [
-                ("wpi::WebServer", "wpi__WebServer.hpp"),
+                ("wpi::net::WebServer", "wpi__net__WebServer.hpp"),
             ],
         ),
     ]
diff --git a/wpinet/src/main/native/include/wpi/net/DsClient.hpp b/wpinet/src/main/native/include/wpi/net/DsClient.hpp
index a96be18cc6..55df512c20 100644
--- a/wpinet/src/main/native/include/wpi/net/DsClient.hpp
+++ b/wpinet/src/main/native/include/wpi/net/DsClient.hpp
@@ -10,10 +10,11 @@
 
 #include "wpi/util/Signal.h"
 
-namespace wpi::net {
-
+namespace wpi::util {
 class Logger;
+}
 
+namespace wpi::net {
 namespace uv {
 class Loop;
 class Tcp;
diff --git a/wpinet/src/main/native/include/wpi/net/HttpServerConnection.hpp b/wpinet/src/main/native/include/wpi/net/HttpServerConnection.hpp
index fca6f23ac7..2b2d4c7c5c 100644
--- a/wpinet/src/main/native/include/wpi/net/HttpServerConnection.hpp
+++ b/wpinet/src/main/native/include/wpi/net/HttpServerConnection.hpp
@@ -12,9 +12,11 @@
 #include "wpi/net/HttpParser.hpp"
 #include "wpi/net/uv/Stream.hpp"
 
-namespace wpi::net {
-
+namespace wpi::util {
 class raw_ostream;
+}
+
+namespace wpi::net {
 
 class HttpServerConnection {
  public:
diff --git a/wpinet/src/main/native/include/wpi/net/ParallelTcpConnector.hpp b/wpinet/src/main/native/include/wpi/net/ParallelTcpConnector.hpp
index 713c890fc3..b4d396dd35 100644
--- a/wpinet/src/main/native/include/wpi/net/ParallelTcpConnector.hpp
+++ b/wpinet/src/main/native/include/wpi/net/ParallelTcpConnector.hpp
@@ -15,10 +15,11 @@
 
 #include "wpi/net/uv/Timer.hpp"
 
-namespace wpi::net {
-
+namespace wpi::util {
 class Logger;
+}
 
+namespace wpi::net {
 namespace uv {
 class GetAddrInfoReq;
 class Loop;
diff --git a/wpinet/src/main/native/include/wpi/net/UDPClient.hpp b/wpinet/src/main/native/include/wpi/net/UDPClient.hpp
index 1c7c2cb445..ce5851cffc 100644
--- a/wpinet/src/main/native/include/wpi/net/UDPClient.hpp
+++ b/wpinet/src/main/native/include/wpi/net/UDPClient.hpp
@@ -12,10 +12,11 @@
 #include "wpi/util/SmallVector.hpp"
 #include "wpi/util/mutex.hpp"
 
-namespace wpi::net {
-
+namespace wpi::util {
 class Logger;
+}
 
+namespace wpi::net {
 class UDPClient {
   int m_lsd;
   int m_port;
diff --git a/wpinet/src/main/native/include/wpi/net/hostname.hpp b/wpinet/src/main/native/include/wpi/net/hostname.hpp
index 2dc6b8e628..3857059319 100644
--- a/wpinet/src/main/native/include/wpi/net/hostname.hpp
+++ b/wpinet/src/main/native/include/wpi/net/hostname.hpp
@@ -8,10 +8,12 @@
 #include <string>
 #include <string_view>
 
-namespace wpi::net {
+namespace wpi::util {
 template <typename T>
 class SmallVectorImpl;
+}
 
+namespace wpi::net {
 std::string GetHostname();
 std::string_view GetHostname(wpi::util::SmallVectorImpl<char>& name);
 }  // namespace wpi::net
diff --git a/wpinet/src/main/native/include/wpi/net/uv/Handle.hpp b/wpinet/src/main/native/include/wpi/net/uv/Handle.hpp
index 9ea645e0e4..07da9aa5a2 100644
--- a/wpinet/src/main/native/include/wpi/net/uv/Handle.hpp
+++ b/wpinet/src/main/native/include/wpi/net/uv/Handle.hpp
@@ -18,7 +18,7 @@
 #include "wpi/net/uv/Loop.hpp"
 #include "wpi/util/Signal.h"
 
-namespace wpi::net {
+namespace wpi::util {
 class Logger;
 }  // namespace wpi::net
 
diff --git a/wpinet/src/main/native/macOS/ResolverThread.cpp b/wpinet/src/main/native/macOS/ResolverThread.cpp
index d275441081..e2ea391ad8 100644
--- a/wpinet/src/main/native/macOS/ResolverThread.cpp
+++ b/wpinet/src/main/native/macOS/ResolverThread.cpp
@@ -50,7 +50,7 @@ void ResolverThread::RemoveServiceRefInThread(DNSServiceRef serviceRef) {
 WPI_EventHandle ResolverThread::RemoveServiceRefOutsideThread(
     DNSServiceRef serviceRef) {
   std::scoped_lock lock{serviceRefMutex};
-  WPI_EventHandle handle = CreateEvent(true);
+  WPI_EventHandle handle = wpi::util::CreateEvent(true);
   serviceRefsToRemove.push_back({serviceRef, handle});
   return handle;
 }
diff --git a/wpinet/src/main/native/thirdparty/tcpsockets/include/wpi/net/TCPAcceptor.h b/wpinet/src/main/native/thirdparty/tcpsockets/include/wpi/net/TCPAcceptor.h
index 7cad7d2a43..8706d1cbb1 100644
--- a/wpinet/src/main/native/thirdparty/tcpsockets/include/wpi/net/TCPAcceptor.h
+++ b/wpinet/src/main/native/thirdparty/tcpsockets/include/wpi/net/TCPAcceptor.h
@@ -32,10 +32,11 @@
 #include "wpi/net/NetworkAcceptor.hpp"
 #include "wpi/net/TCPStream.h"
 
-namespace wpi::net {
-
+namespace wpi::util {
 class Logger;
+}
 
+namespace wpi::net {
 class TCPAcceptor : public NetworkAcceptor {
   int m_lsd;
   int m_port;
diff --git a/wpinet/src/main/native/thirdparty/tcpsockets/include/wpi/net/TCPConnector.h b/wpinet/src/main/native/thirdparty/tcpsockets/include/wpi/net/TCPConnector.h
index 1a3e094cc1..6da49b6cdc 100644
--- a/wpinet/src/main/native/thirdparty/tcpsockets/include/wpi/net/TCPConnector.h
+++ b/wpinet/src/main/native/thirdparty/tcpsockets/include/wpi/net/TCPConnector.h
@@ -30,10 +30,11 @@
 
 #include "wpi/net/NetworkStream.hpp"
 
-namespace wpi::net {
-
+namespace wpi::util {
 class Logger;
+}
 
+namespace wpi::net {
 class TCPConnector {
  public:
   static std::unique_ptr<NetworkStream> connect(const char* server, int port,
diff --git a/wpinet/src/test/native/cpp/WorkerThreadTest.cpp b/wpinet/src/test/native/cpp/WorkerThreadTest.cpp
index ea65f0b5d6..b63f7385d2 100644
--- a/wpinet/src/test/native/cpp/WorkerThreadTest.cpp
+++ b/wpinet/src/test/native/cpp/WorkerThreadTest.cpp
@@ -36,8 +36,8 @@ TEST(WorkerThreadTest, FutureVoid) {
 }
 
 TEST(WorkerThreadTest, Loop) {
-  mutex m;
-  condition_variable cv;
+  wpi::util::mutex m;
+  wpi::util::condition_variable cv;
   int callbacks = 0;
 
   WorkerThread<int(bool)> worker;
@@ -60,8 +60,8 @@ TEST(WorkerThreadTest, Loop) {
 }
 
 TEST(WorkerThreadTest, LoopVoid) {
-  mutex m;
-  condition_variable cv;
+  wpi::util::mutex m;
+  wpi::util::condition_variable cv;
   int callbacks = 0;
 
   WorkerThread<void(bool)> worker;
diff --git a/wpiutil/robotpy_pybind_build_info.bzl b/wpiutil/robotpy_pybind_build_info.bzl
index 7209a1ecc4..f33899fe6b 100644
--- a/wpiutil/robotpy_pybind_build_info.bzl
+++ b/wpiutil/robotpy_pybind_build_info.bzl
@@ -38,7 +38,7 @@ def wpiutil_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], inclu
             header_file = "$(execpath :robotpy-native-wpiutil.copy_headers)/wpi/util/sendable/Sendable.hpp",
             tmpl_class_names = [],
             trampolines = [
-                ("wpi::Sendable", "wpi__Sendable.hpp"),
+                ("wpi::util::Sendable", "wpi__util__Sendable.hpp"),
             ],
         ),
         struct(
@@ -48,7 +48,7 @@ def wpiutil_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], inclu
             header_file = "$(execpath :robotpy-native-wpiutil.copy_headers)/wpi/util/sendable/SendableBuilder.hpp",
             tmpl_class_names = [],
             trampolines = [
-                ("wpi::SendableBuilder", "wpi__SendableBuilder.hpp"),
+                ("wpi::util::SendableBuilder", "wpi__util__SendableBuilder.hpp"),
             ],
         ),
         struct(
@@ -58,7 +58,7 @@ def wpiutil_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], inclu
             header_file = "$(execpath :robotpy-native-wpiutil.copy_headers)/wpi/util/sendable/SendableRegistry.hpp",
             tmpl_class_names = [],
             trampolines = [
-                ("wpi::SendableRegistry", "wpi__SendableRegistry.hpp"),
+                ("wpi::util::SendableRegistry", "wpi__util__SendableRegistry.hpp"),
             ],
         ),
         struct(
diff --git a/wpiutil/src/main/native/include/wpi/util/scope b/wpiutil/src/main/native/include/wpi/util/scope
index e25badb617..ef8baa6ffd 100644
--- a/wpiutil/src/main/native/include/wpi/util/scope
+++ b/wpiutil/src/main/native/include/wpi/util/scope
@@ -6,7 +6,7 @@
 
 #include <utility>
 
-namespace wpi {
+namespace wpi::util {
 
 template <typename F>
 class scope_exit {
@@ -34,4 +34,4 @@ class scope_exit {
   bool m_active = true;
 };
 
-}  // namespace wpi
+}  // namespace wpi::util
diff --git a/wpiutil/src/main/native/thirdparty/expected/include/wpi/util/expected b/wpiutil/src/main/native/thirdparty/expected/include/wpi/util/expected
index 24b7a26ec7..168f97889c 100644
--- a/wpiutil/src/main/native/thirdparty/expected/include/wpi/util/expected
+++ b/wpiutil/src/main/native/thirdparty/expected/include/wpi/util/expected
@@ -81,7 +81,7 @@
 #elif (defined(__GNUC__) && __GNUC__ < 8 && !defined(__clang__))
 #ifndef WPI_GCC_LESS_8_TRIVIALLY_COPY_CONSTRUCTIBLE_MUTEX
 #define WPI_GCC_LESS_8_TRIVIALLY_COPY_CONSTRUCTIBLE_MUTEX
-namespace wpi {
+namespace wpi::util {
 namespace detail_expected {
 template <class T>
 struct is_trivially_copy_constructible
@@ -91,11 +91,11 @@ template <class T, class A>
 struct is_trivially_copy_constructible<std::vector<T, A>> : std::false_type {};
 #endif
 } // namespace detail_expected
-} // namespace wpi
+} // namespace wpi::util
 #endif
 
 #define WPI_EXPECTED_IS_TRIVIALLY_COPY_CONSTRUCTIBLE(T)                         \
-  wpi::detail_expected::is_trivially_copy_constructible<T>
+  wpi::util::detail_expected::is_trivially_copy_constructible<T>
 #define WPI_EXPECTED_IS_TRIVIALLY_COPY_ASSIGNABLE(T)                            \
   std::is_trivially_copy_assignable<T>
 #define WPI_EXPECTED_IS_TRIVIALLY_DESTRUCTIBLE(T)                               \
@@ -126,7 +126,7 @@ struct is_trivially_copy_constructible<std::vector<T, A>> : std::false_type {};
 #define WPI_EXPECTED_11_CONSTEXPR constexpr
 #endif
 
-namespace wpi {
+namespace wpi::util {
 template <class T, class E> class expected;
 
 #ifndef WPI_MONOSTATE_INPLACE_MUTEX
@@ -388,7 +388,7 @@ struct is_nothrow_swappable
 #endif
 #endif
 
-// Trait for checking if a type is a wpi::expected
+// Trait for checking if a type is a wpi::util::expected
 template <class T> struct is_expected_impl : std::false_type {};
 template <class T, class E>
 struct is_expected_impl<expected<T, E>> : std::true_type {};
@@ -2439,6 +2439,6 @@ void swap(expected<T, E> &lhs,
           expected<T, E> &rhs) noexcept(noexcept(lhs.swap(rhs))) {
   lhs.swap(rhs);
 }
-} // namespace wpi
+} // namespace wpi::util
 
 #endif