diff --git a/upstream_utils/eigen.py b/upstream_utils/eigen.py
index e343251160..222b45e5f2 100755
--- a/upstream_utils/eigen.py
+++ b/upstream_utils/eigen.py
@@ -145,7 +145,8 @@ def copy_upstream_src(wpilib_root: Path):
 def main():
     name = "eigen"
     url = "https://gitlab.com/libeigen/eigen.git"
-    tag = "5.0.0"
+    # 5.0.0 release as of 2025-09-23
+    tag = "d65cda87c1a673047b59b20a9f9e165a452f91e9"
 
     eigen = Lib(name, url, tag, copy_upstream_src)
     eigen.main()
diff --git a/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/CwiseNullaryOp.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/CwiseNullaryOp.h
index 13a542a023..e4c5fedc3f 100644
--- a/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/CwiseNullaryOp.h
+++ b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/CwiseNullaryOp.h
@@ -235,8 +235,7 @@ DenseBase<Derived>::Constant(const Scalar& value) {
  * \sa LinSpaced(Index,const Scalar&, const Scalar&), setLinSpaced(Index,const Scalar&,const Scalar&)
  */
 template <typename Derived>
-EIGEN_DEPRECATED EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename DenseBase<
-    Derived>::RandomAccessLinSpacedReturnType
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename DenseBase<Derived>::RandomAccessLinSpacedReturnType
 DenseBase<Derived>::LinSpaced(Sequential_t, Index size, const Scalar& low, const Scalar& high) {
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
   return DenseBase<Derived>::NullaryExpr(size, internal::linspaced_op<Scalar>(low, high, size));
@@ -247,8 +246,7 @@ DenseBase<Derived>::LinSpaced(Sequential_t, Index size, const Scalar& low, const
  * \sa LinSpaced(const Scalar&, const Scalar&)
  */
 template <typename Derived>
-EIGEN_DEPRECATED EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename DenseBase<
-    Derived>::RandomAccessLinSpacedReturnType
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename DenseBase<Derived>::RandomAccessLinSpacedReturnType
 DenseBase<Derived>::LinSpaced(Sequential_t, const Scalar& low, const Scalar& high) {
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
   EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived)
diff --git a/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/DenseBase.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/DenseBase.h
index 0333ad167a..c81e1d109a 100644
--- a/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/DenseBase.h
+++ b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/DenseBase.h
@@ -306,12 +306,12 @@ class DenseBase
   EIGEN_DEVICE_FUNC static const ConstantReturnType Constant(Index size, const Scalar& value);
   EIGEN_DEVICE_FUNC static const ConstantReturnType Constant(const Scalar& value);
 
-  EIGEN_DEPRECATED EIGEN_DEVICE_FUNC static const RandomAccessLinSpacedReturnType LinSpaced(Sequential_t, Index size,
-                                                                                            const Scalar& low,
-                                                                                            const Scalar& high);
-  EIGEN_DEPRECATED EIGEN_DEVICE_FUNC static const RandomAccessLinSpacedReturnType LinSpaced(Sequential_t,
-                                                                                            const Scalar& low,
-                                                                                            const Scalar& high);
+  EIGEN_DEPRECATED_WITH_REASON("The method may result in accuracy loss. Use .EqualSpaced() instead.")
+  EIGEN_DEVICE_FUNC static const RandomAccessLinSpacedReturnType LinSpaced(Sequential_t, Index size, const Scalar& low,
+                                                                           const Scalar& high);
+  EIGEN_DEPRECATED_WITH_REASON("The method may result in accuracy loss. Use .EqualSpaced() instead.")
+  EIGEN_DEVICE_FUNC static const RandomAccessLinSpacedReturnType LinSpaced(Sequential_t, const Scalar& low,
+                                                                           const Scalar& high);
 
   EIGEN_DEVICE_FUNC static const RandomAccessLinSpacedReturnType LinSpaced(Index size, const Scalar& low,
                                                                            const Scalar& high);
diff --git a/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/GenericPacketMath.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/GenericPacketMath.h
index 139b10e8a4..64e11231ed 100644
--- a/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/GenericPacketMath.h
+++ b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/GenericPacketMath.h
@@ -65,7 +65,7 @@ struct default_packet_traits {
     HasAbsDiff = 0,
     HasBlend = 0,
     // This flag is used to indicate whether packet comparison is supported.
-    // pcmp_eq, pcmp_lt and pcmp_le should be defined for it to be true.
+    // pcmp_eq and pcmp_lt should be defined for it to be true.
     HasCmp = 0,
 
     HasDiv = 0,
@@ -432,30 +432,6 @@ EIGEN_DEVICE_FUNC inline Packet pzero(const Packet& a) {
   return pzero_impl<Packet>::run(a);
 }
 
-/** \internal \returns a <= b as a bit mask */
-template <typename Packet>
-EIGEN_DEVICE_FUNC inline Packet pcmp_le(const Packet& a, const Packet& b) {
-  return a <= b ? ptrue(a) : pzero(a);
-}
-
-/** \internal \returns a < b as a bit mask */
-template <typename Packet>
-EIGEN_DEVICE_FUNC inline Packet pcmp_lt(const Packet& a, const Packet& b) {
-  return a < b ? ptrue(a) : pzero(a);
-}
-
-/** \internal \returns a == b as a bit mask */
-template <typename Packet>
-EIGEN_DEVICE_FUNC inline Packet pcmp_eq(const Packet& a, const Packet& b) {
-  return a == b ? ptrue(a) : pzero(a);
-}
-
-/** \internal \returns a < b or a==NaN or b==NaN as a bit mask */
-template <typename Packet>
-EIGEN_DEVICE_FUNC inline Packet pcmp_lt_or_nan(const Packet& a, const Packet& b) {
-  return a >= b ? pzero(a) : ptrue(a);
-}
-
 template <typename T>
 struct bit_and {
   EIGEN_DEVICE_FUNC constexpr EIGEN_ALWAYS_INLINE T operator()(const T& a, const T& b) const { return a & b; }
@@ -582,6 +558,30 @@ EIGEN_DEVICE_FUNC inline Packet pandnot(const Packet& a, const Packet& b) {
   return pand(a, pnot(b));
 }
 
+/** \internal \returns a < b as a bit mask */
+template <typename Packet>
+EIGEN_DEVICE_FUNC inline Packet pcmp_lt(const Packet& a, const Packet& b) {
+  return a < b ? ptrue(a) : pzero(a);
+}
+
+/** \internal \returns a == b as a bit mask */
+template <typename Packet>
+EIGEN_DEVICE_FUNC inline Packet pcmp_eq(const Packet& a, const Packet& b) {
+  return a == b ? ptrue(a) : pzero(a);
+}
+
+/** \internal \returns a <= b as a bit mask */
+template <typename Packet>
+EIGEN_DEVICE_FUNC inline Packet pcmp_le(const Packet& a, const Packet& b) {
+  return por(pcmp_eq(a, b), pcmp_lt(a, b));
+}
+
+/** \internal \returns a < b or a==NaN or b==NaN as a bit mask */
+template <typename Packet>
+EIGEN_DEVICE_FUNC inline Packet pcmp_lt_or_nan(const Packet& a, const Packet& b) {
+  return a >= b ? pzero(a) : ptrue(a);
+}
+
 // In the general case, use bitwise select.
 template <typename Packet, bool is_scalar = is_scalar<Packet>::value>
 struct pselect_impl {
diff --git a/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/MatrixBase.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/MatrixBase.h
index 8d5c47e472..045993d466 100644
--- a/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/MatrixBase.h
+++ b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/MatrixBase.h
@@ -373,12 +373,14 @@ class MatrixBase : public DenseBase<Derived> {
   template <int Options = 0>
   inline JacobiSVD<PlainObject, Options> jacobiSvd() const;
   template <int Options = 0>
-  EIGEN_DEPRECATED inline JacobiSVD<PlainObject, Options> jacobiSvd(unsigned int computationOptions) const;
+  EIGEN_DEPRECATED_WITH_REASON("Options should be specified using method's template parameter.")
+  inline JacobiSVD<PlainObject, Options> jacobiSvd(unsigned int computationOptions) const;
 
   template <int Options = 0>
   inline BDCSVD<PlainObject, Options> bdcSvd() const;
   template <int Options = 0>
-  EIGEN_DEPRECATED inline BDCSVD<PlainObject, Options> bdcSvd(unsigned int computationOptions) const;
+  EIGEN_DEPRECATED_WITH_REASON("Options should be specified using method's template parameter.")
+  inline BDCSVD<PlainObject, Options> bdcSvd(unsigned int computationOptions) const;
 
   /////////// Geometry module ///////////
 
@@ -391,7 +393,8 @@ class MatrixBase : public DenseBase<Derived> {
 
   EIGEN_DEVICE_FUNC inline PlainObject unitOrthogonal(void) const;
 
-  EIGEN_DEPRECATED EIGEN_DEVICE_FUNC inline Matrix<Scalar, 3, 1> eulerAngles(Index a0, Index a1, Index a2) const;
+  EIGEN_DEPRECATED_WITH_REASON("Use .canonicalEulerAngles() instead.")
+  EIGEN_DEVICE_FUNC inline Matrix<Scalar, 3, 1> eulerAngles(Index a0, Index a1, Index a2) const;
 
   EIGEN_DEVICE_FUNC inline Matrix<Scalar, 3, 1> canonicalEulerAngles(Index a0, Index a1, Index a2) const;
 
diff --git a/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/ProductEvaluators.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/ProductEvaluators.h
index a230044583..5955e496f6 100644
--- a/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/ProductEvaluators.h
+++ b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/ProductEvaluators.h
@@ -1264,6 +1264,14 @@ struct generic_product_impl<Lhs, Rhs, SkewSymmetricShape, SkewSymmetricShape, Pr
   }
 };
 
+template <typename Lhs, typename Rhs, int ProductTag, typename MatrixShape>
+struct generic_product_impl<Lhs, Rhs, MatrixShape, HomogeneousShape, ProductTag>
+    : generic_product_impl<Lhs, typename Rhs::PlainObject, MatrixShape, DenseShape, ProductTag> {};
+
+template <typename Lhs, typename Rhs, int ProductTag, typename MatrixShape>
+struct generic_product_impl<Lhs, Rhs, HomogeneousShape, MatrixShape, ProductTag>
+    : generic_product_impl<typename Lhs::PlainObject, Rhs, DenseShape, MatrixShape, ProductTag> {};
+
 }  // end namespace internal
 
 }  // end namespace Eigen
diff --git a/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/arch/SSE/PacketMath.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/arch/SSE/PacketMath.h
index b66a4db7c3..e0119dd760 100644
--- a/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/arch/SSE/PacketMath.h
+++ b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/arch/SSE/PacketMath.h
@@ -287,7 +287,7 @@ struct packet_traits<bool> : default_packet_traits {
     AlignedOnScalar = 1,
     size = 16,
 
-    HasCmp = 1,  // note -- only pcmp_eq is defined
+    HasCmp = 1,
     HasShift = 0,
     HasAbs = 0,
     HasAbs2 = 0,
@@ -883,7 +883,14 @@ template <>
 EIGEN_STRONG_INLINE Packet4ui pandnot<Packet4ui>(const Packet4ui& a, const Packet4ui& b) {
   return _mm_andnot_si128(b, a);
 }
-
+template <>
+EIGEN_STRONG_INLINE Packet16b pandnot<Packet16b>(const Packet16b& a, const Packet16b& b) {
+  return _mm_andnot_si128(b, a);
+}
+template <>
+EIGEN_STRONG_INLINE Packet16b pcmp_lt(const Packet16b& a, const Packet16b& b) {
+  return _mm_andnot_si128(a, b);
+}
 template <>
 EIGEN_STRONG_INLINE Packet4f pcmp_le(const Packet4f& a, const Packet4f& b) {
   return _mm_cmple_ps(a, b);
@@ -927,7 +934,11 @@ EIGEN_STRONG_INLINE Packet4i pcmp_eq(const Packet4i& a, const Packet4i& b) {
 }
 template <>
 EIGEN_STRONG_INLINE Packet4i pcmp_le(const Packet4i& a, const Packet4i& b) {
+#ifdef EIGEN_VECTORIZE_SSE4_1
+  return _mm_cmpeq_epi32(a, _mm_min_epi32(a, b));
+#else
   return por(pcmp_lt(a, b), pcmp_eq(a, b));
+#endif
 }
 template <>
 EIGEN_STRONG_INLINE Packet2l pcmp_lt(const Packet2l& a, const Packet2l& b) {
diff --git a/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/products/Parallelizer.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/products/Parallelizer.h
index 4f3668944f..b1b89ef971 100644
--- a/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/products/Parallelizer.h
+++ b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/products/Parallelizer.h
@@ -47,7 +47,7 @@ inline void manage_multi_threading(Action action, int* v);
 // Public APIs.
 
 /** Must be call first when calling Eigen from multiple threads */
-EIGEN_DEPRECATED inline void initParallel() {}
+EIGEN_DEPRECATED_WITH_REASON("Initialization is no longer needed.") inline void initParallel() {}
 
 /** \returns the max number of threads reserved for Eigen
  * \sa setNbThreads */
diff --git a/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/util/Macros.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/util/Macros.h
index 35eb161361..db4a63089b 100644
--- a/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/util/Macros.h
+++ b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/util/Macros.h
@@ -940,6 +940,18 @@
 #define EIGEN_DEPRECATED
 #endif
 
+#ifndef EIGEN_NO_DEPRECATED_WARNING
+#if EIGEN_COMP_GNUC
+#define EIGEN_DEPRECATED_WITH_REASON(message) __attribute__((deprecated(message)))
+#elif EIGEN_COMP_MSVC
+#define EIGEN_DEPRECATED_WITH_REASON(message) __declspec(deprecated(message))
+#else
+#define EIGEN_DEPRECATED_WITH_REASON(message)
+#endif
+#else
+#define EIGEN_DEPRECATED_WITH_REASON(message)
+#endif
+
 #if EIGEN_COMP_GNUC
 #define EIGEN_UNUSED __attribute__((unused))
 #else
diff --git a/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/util/Serializer.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/util/Serializer.h
index 1e12820008..dc3bd13083 100644
--- a/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/util/Serializer.h
+++ b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/util/Serializer.h
@@ -28,7 +28,8 @@ class Serializer;
 
 // Specialization for POD types.
 template <typename T>
-class Serializer<T, typename std::enable_if_t<std::is_trivial<T>::value && std::is_standard_layout<T>::value>> {
+class Serializer<T,
+                 typename std::enable_if_t<std::is_trivially_copyable<T>::value && std::is_standard_layout<T>::value>> {
  public:
   /**
    * Determines the required size of the serialization buffer for a value.
diff --git a/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Eigenvalues/RealSchur.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Eigenvalues/RealSchur.h
index 54a74e2f59..94bc34dd8d 100644
--- a/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Eigenvalues/RealSchur.h
+++ b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Eigenvalues/RealSchur.h
@@ -409,7 +409,7 @@ inline void RealSchur<MatrixType>::computeShift(Index iu, Index iter, Scalar& ex
   shiftInfo.coeffRef(2) = m_matT.coeff(iu, iu - 1) * m_matT.coeff(iu - 1, iu);
 
   // Alternate exceptional shifting strategy every 16 iterations.
-  if (iter % 16 == 0) {
+  if (iter > 0 && iter % 16 == 0) {
     // Wilkinson's original ad hoc shift
     if (iter % 32 != 0) {
       exshift += shiftInfo.coeff(0);
diff --git a/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Geometry/EulerAngles.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Geometry/EulerAngles.h
index ad6b821bea..366a32ce42 100644
--- a/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Geometry/EulerAngles.h
+++ b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Geometry/EulerAngles.h
@@ -133,8 +133,8 @@ EIGEN_DEVICE_FUNC inline Matrix<typename MatrixBase<Derived>::Scalar, 3, 1> Matr
  * \sa class AngleAxis
  */
 template <typename Derived>
-EIGEN_DEPRECATED EIGEN_DEVICE_FUNC inline Matrix<typename MatrixBase<Derived>::Scalar, 3, 1>
-MatrixBase<Derived>::eulerAngles(Index a0, Index a1, Index a2) const {
+EIGEN_DEVICE_FUNC inline Matrix<typename MatrixBase<Derived>::Scalar, 3, 1> MatrixBase<Derived>::eulerAngles(
+    Index a0, Index a1, Index a2) const {
   /* Implemented from Graphics Gems IV */
   EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Derived, 3, 3)
 
diff --git a/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Geometry/Homogeneous.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Geometry/Homogeneous.h
index 795af0d8d6..4159dc6d0c 100644
--- a/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Geometry/Homogeneous.h
+++ b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Geometry/Homogeneous.h
@@ -80,14 +80,12 @@ class Homogeneous : public MatrixBase<Homogeneous<MatrixType, Direction_> >, int
 
   template <typename Rhs>
   EIGEN_DEVICE_FUNC inline const Product<Homogeneous, Rhs> operator*(const MatrixBase<Rhs>& rhs) const {
-    eigen_assert(int(Direction) == Horizontal);
     return Product<Homogeneous, Rhs>(*this, rhs.derived());
   }
 
   template <typename Lhs>
   friend EIGEN_DEVICE_FUNC inline const Product<Lhs, Homogeneous> operator*(const MatrixBase<Lhs>& lhs,
                                                                             const Homogeneous& rhs) {
-    eigen_assert(int(Direction) == Vertical);
     return Product<Lhs, Homogeneous>(lhs.derived(), rhs);
   }
 
diff --git a/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/SVD/BDCSVD.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/SVD/BDCSVD.h
index 6fab905e54..db1e4a2640 100644
--- a/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/SVD/BDCSVD.h
+++ b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/SVD/BDCSVD.h
@@ -155,7 +155,8 @@ class BDCSVD : public SVDBase<BDCSVD<MatrixType_, Options_> > {
    * \deprecated Will be removed in the next major Eigen version. Options should
    * be specified in the \a Options template parameter.
    */
-  EIGEN_DEPRECATED BDCSVD(Index rows, Index cols, unsigned int computationOptions) : m_algoswap(16), m_numIters(0) {
+  EIGEN_DEPRECATED_WITH_REASON("Options should be specified using the class template parameter.")
+  BDCSVD(Index rows, Index cols, unsigned int computationOptions) : m_algoswap(16), m_numIters(0) {
     internal::check_svd_options_assertions<MatrixType, Options>(computationOptions, rows, cols);
     allocate(rows, cols, computationOptions);
   }
@@ -183,8 +184,8 @@ class BDCSVD : public SVDBase<BDCSVD<MatrixType_, Options_> > {
    * be specified in the \a Options template parameter.
    */
   template <typename Derived>
-  EIGEN_DEPRECATED BDCSVD(const MatrixBase<Derived>& matrix, unsigned int computationOptions)
-      : m_algoswap(16), m_numIters(0) {
+  EIGEN_DEPRECATED_WITH_REASON("Options should be specified using the class template parameter.")
+  BDCSVD(const MatrixBase<Derived>& matrix, unsigned int computationOptions) : m_algoswap(16), m_numIters(0) {
     internal::check_svd_options_assertions<MatrixType, Options>(computationOptions, matrix.rows(), matrix.cols());
     compute_impl(matrix, computationOptions);
   }
@@ -211,7 +212,8 @@ class BDCSVD : public SVDBase<BDCSVD<MatrixType_, Options_> > {
    * be specified in the \a Options template parameter.
    */
   template <typename Derived>
-  EIGEN_DEPRECATED BDCSVD& compute(const MatrixBase<Derived>& matrix, unsigned int computationOptions) {
+  EIGEN_DEPRECATED_WITH_REASON("Options should be specified using the class template parameter.")
+  BDCSVD& compute(const MatrixBase<Derived>& matrix, unsigned int computationOptions) {
     internal::check_svd_options_assertions<MatrixType, Options>(computationOptions, matrix.rows(), matrix.cols());
     return compute_impl(matrix, computationOptions);
   }
diff --git a/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/SVD/JacobiSVD.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/SVD/JacobiSVD.h
index 1abde17fd9..da2f295930 100644
--- a/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/SVD/JacobiSVD.h
+++ b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/SVD/JacobiSVD.h
@@ -555,7 +555,8 @@ class JacobiSVD : public SVDBase<JacobiSVD<MatrixType_, Options_> > {
    * \deprecated Will be removed in the next major Eigen version. Options should
    * be specified in the \a Options template parameter.
    */
-  EIGEN_DEPRECATED JacobiSVD(Index rows, Index cols, unsigned int computationOptions) {
+  EIGEN_DEPRECATED_WITH_REASON("Options should be specified using the class template parameter.")
+  JacobiSVD(Index rows, Index cols, unsigned int computationOptions) {
     internal::check_svd_options_assertions<MatrixType, Options>(computationOptions, rows, cols);
     allocate(rows, cols, computationOptions);
   }
@@ -610,7 +611,8 @@ class JacobiSVD : public SVDBase<JacobiSVD<MatrixType_, Options_> > {
    * be specified in the \a Options template parameter.
    */
   template <typename Derived>
-  EIGEN_DEPRECATED JacobiSVD& compute(const MatrixBase<Derived>& matrix, unsigned int computationOptions) {
+  EIGEN_DEPRECATED_WITH_REASON("Options should be specified using the class template parameter.")
+  JacobiSVD& compute(const MatrixBase<Derived>& matrix, unsigned int computationOptions) {
     internal::check_svd_options_assertions<MatrixBase<Derived>, Options>(m_computationOptions, matrix.rows(),
                                                                          matrix.cols());
     return compute_impl(matrix, computationOptions);
diff --git a/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/SparseCore/SparseVector.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/SparseCore/SparseVector.h
index 3f72a34dab..d19a00dd9f 100644
--- a/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/SparseCore/SparseVector.h
+++ b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/SparseCore/SparseVector.h
@@ -354,40 +354,40 @@ class SparseVector : public SparseCompressedBase<SparseVector<Scalar_, Options_,
 
  public:
   /** \internal \deprecated use setZero() and reserve() */
-  EIGEN_DEPRECATED void startFill(Index reserve) {
+  EIGEN_DEPRECATED_WITH_REASON("Use .setZero() and .reserve() instead.") void startFill(Index reserve) {
     setZero();
     m_data.reserve(reserve);
   }
 
   /** \internal \deprecated use insertBack(Index,Index) */
-  EIGEN_DEPRECATED Scalar& fill(Index r, Index c) {
+  EIGEN_DEPRECATED_WITH_REASON("Use .insertBack() instead.") Scalar& fill(Index r, Index c) {
     eigen_assert(r == 0 || c == 0);
     return fill(IsColVector ? r : c);
   }
 
   /** \internal \deprecated use insertBack(Index) */
-  EIGEN_DEPRECATED Scalar& fill(Index i) {
+  EIGEN_DEPRECATED_WITH_REASON("Use .insertBack() instead.") Scalar& fill(Index i) {
     m_data.append(0, i);
     return m_data.value(m_data.size() - 1);
   }
 
   /** \internal \deprecated use insert(Index,Index) */
-  EIGEN_DEPRECATED Scalar& fillrand(Index r, Index c) {
+  EIGEN_DEPRECATED_WITH_REASON("Use .insert() instead.") Scalar& fillrand(Index r, Index c) {
     eigen_assert(r == 0 || c == 0);
     return fillrand(IsColVector ? r : c);
   }
 
   /** \internal \deprecated use insert(Index) */
-  EIGEN_DEPRECATED Scalar& fillrand(Index i) { return insert(i); }
+  EIGEN_DEPRECATED_WITH_REASON("Use .insert() instead.") Scalar& fillrand(Index i) { return insert(i); }
 
   /** \internal \deprecated use finalize() */
-  EIGEN_DEPRECATED void endFill() {}
+  EIGEN_DEPRECATED_WITH_REASON("Use .finalize() instead.") void endFill() {}
 
   // These two functions were here in the 3.1 release, so let's keep them in case some code rely on them.
   /** \internal \deprecated use data() */
-  EIGEN_DEPRECATED Storage& _data() { return m_data; }
+  EIGEN_DEPRECATED_WITH_REASON("Use .data() instead.") Storage& _data() { return m_data; }
   /** \internal \deprecated use data() */
-  EIGEN_DEPRECATED const Storage& _data() const { return m_data; }
+  EIGEN_DEPRECATED_WITH_REASON("Use .data() instead.") const Storage& _data() const { return m_data; }
 
 #ifdef EIGEN_SPARSEVECTOR_PLUGIN
 #include EIGEN_SPARSEVECTOR_PLUGIN