diff --git a/wpilibc/src/main/native/cpp/motorcontrol/MotorControllerGroup.cpp b/wpilibc/src/main/native/cpp/motorcontrol/MotorControllerGroup.cpp
deleted file mode 100644
index 311c71f7b1..0000000000
--- a/wpilibc/src/main/native/cpp/motorcontrol/MotorControllerGroup.cpp
+++ /dev/null
@@ -1,82 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#include "wpi/hardware/motor/MotorControllerGroup.hpp"
-
-#include <utility>
-#include <vector>
-
-#include "wpi/util/sendable/SendableBuilder.hpp"
-#include "wpi/util/sendable/SendableRegistry.hpp"
-
-using namespace wpi;
-
-// Can't use a delegated constructor here because of an MSVC bug.
-// https://developercommunity.visualstudio.com/content/problem/583/compiler-bug-with-delegating-a-constructor.html
-
-WPI_IGNORE_DEPRECATED
-
-MotorControllerGroup::MotorControllerGroup(
-    std::vector<std::reference_wrapper<MotorController>>&& motorControllers)
-    : m_motorControllers(std::move(motorControllers)) {
-  Initialize();
-}
-
-void MotorControllerGroup::Initialize() {
-  for (auto& motorController : m_motorControllers) {
-    wpi::util::SendableRegistry::AddChild(this, &motorController.get());
-  }
-  static int instances = 0;
-  ++instances;
-  wpi::util::SendableRegistry::Add(this, "MotorControllerGroup", instances);
-}
-
-void MotorControllerGroup::Set(double speed) {
-  for (auto motorController : m_motorControllers) {
-    motorController.get().Set(m_isInverted ? -speed : speed);
-  }
-}
-
-void MotorControllerGroup::SetVoltage(wpi::units::volt_t output) {
-  for (auto motorController : m_motorControllers) {
-    motorController.get().SetVoltage(m_isInverted ? -output : output);
-  }
-}
-
-double MotorControllerGroup::Get() const {
-  if (!m_motorControllers.empty()) {
-    return m_motorControllers.front().get().Get() * (m_isInverted ? -1 : 1);
-  }
-  return 0.0;
-}
-
-void MotorControllerGroup::SetInverted(bool isInverted) {
-  m_isInverted = isInverted;
-}
-
-bool MotorControllerGroup::GetInverted() const {
-  return m_isInverted;
-}
-
-void MotorControllerGroup::Disable() {
-  for (auto motorController : m_motorControllers) {
-    motorController.get().Disable();
-  }
-}
-
-void MotorControllerGroup::StopMotor() {
-  for (auto motorController : m_motorControllers) {
-    motorController.get().StopMotor();
-  }
-}
-
-void MotorControllerGroup::InitSendable(wpi::util::SendableBuilder& builder) {
-  builder.SetSmartDashboardType("Motor Controller");
-  builder.SetActuator(true);
-  builder.AddDoubleProperty(
-      "Value", [=, this] { return Get(); },
-      [=, this](double value) { Set(value); });
-}
-
-WPI_UNIGNORE_DEPRECATED
diff --git a/wpilibc/src/main/native/include/wpi/hardware/motor/MotorControllerGroup.hpp b/wpilibc/src/main/native/include/wpi/hardware/motor/MotorControllerGroup.hpp
deleted file mode 100644
index ca53987181..0000000000
--- a/wpilibc/src/main/native/include/wpi/hardware/motor/MotorControllerGroup.hpp
+++ /dev/null
@@ -1,74 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#pragma once
-
-#include <functional>
-#include <vector>
-
-#include "wpi/hardware/motor/MotorController.hpp"
-#include "wpi/util/deprecated.hpp"
-#include "wpi/util/sendable/Sendable.hpp"
-#include "wpi/util/sendable/SendableHelper.hpp"
-
-WPI_IGNORE_DEPRECATED
-
-namespace wpi {
-
-/**
- * Allows multiple MotorController objects to be linked together.
- */
-class [[deprecated(
-    "Use PWMMotorController::AddFollower() or if using CAN motor controllers,"
-    "use their method of following.")]] MotorControllerGroup
-    : public wpi::util::Sendable,
-      public MotorController,
-      public wpi::util::SendableHelper<MotorControllerGroup> {
- public:
-  /**
-   * Create a new MotorControllerGroup with the provided MotorControllers.
-   *
-   * @tparam MotorControllers The MotorController types.
-   * @param motorController The first MotorController to add
-   * @param motorControllers The MotorControllers to add
-   */
-  template <class... MotorControllers>
-  explicit MotorControllerGroup(MotorController& motorController,
-                                MotorControllers&... motorControllers)
-      : m_motorControllers(std::vector<std::reference_wrapper<MotorController>>{
-            motorController, motorControllers...}) {
-    Initialize();
-  }
-
-  /**
-   * Create a new MotorControllerGroup with the provided MotorControllers.
-   *
-   * @param motorControllers The MotorControllers to add.
-   */
-  explicit MotorControllerGroup(
-      std::vector<std::reference_wrapper<MotorController>>&& motorControllers);
-
-  MotorControllerGroup(MotorControllerGroup&&) = default;
-  MotorControllerGroup& operator=(MotorControllerGroup&&) = default;
-
-  void Set(double speed) override;
-  void SetVoltage(wpi::units::volt_t output) override;
-  double Get() const override;
-  void SetInverted(bool isInverted) override;
-  bool GetInverted() const override;
-  void Disable() override;
-  void StopMotor() override;
-
-  void InitSendable(wpi::util::SendableBuilder& builder) override;
-
- private:
-  bool m_isInverted = false;
-  std::vector<std::reference_wrapper<MotorController>> m_motorControllers;
-
-  void Initialize();
-};
-
-}  // namespace wpi
-
-WPI_UNIGNORE_DEPRECATED
diff --git a/wpilibc/src/test/native/cpp/motorcontrol/MotorControllerGroupTest.cpp b/wpilibc/src/test/native/cpp/motorcontrol/MotorControllerGroupTest.cpp
deleted file mode 100644
index 6eeeae570c..0000000000
--- a/wpilibc/src/test/native/cpp/motorcontrol/MotorControllerGroupTest.cpp
+++ /dev/null
@@ -1,131 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#include "wpi/hardware/motor/MotorControllerGroup.hpp"  // NOLINT(build/include_order)
-
-#include <memory>
-#include <vector>
-
-#include <gtest/gtest.h>
-
-#include "motorcontrol/MockMotorController.hpp"
-#include "wpi/util/deprecated.hpp"
-
-using namespace wpi;
-
-enum MotorControllerGroupTestType { TEST_ONE, TEST_TWO, TEST_THREE };
-
-std::ostream& operator<<(std::ostream& os,
-                         const MotorControllerGroupTestType& type) {
-  switch (type) {
-    case TEST_ONE:
-      os << "MotorControllerGroup with one motor controller";
-      break;
-    case TEST_TWO:
-      os << "MotorControllerGroup with two motor controllers";
-      break;
-    case TEST_THREE:
-      os << "MotorControllerGroup with three motor controllers";
-      break;
-  }
-
-  return os;
-}
-
-WPI_IGNORE_DEPRECATED
-
-/**
- * A fixture used for MotorControllerGroup testing.
- */
-class MotorControllerGroupTest
-    : public testing::TestWithParam<MotorControllerGroupTestType> {
- protected:
-  std::vector<MockMotorController> m_motorControllers;
-  std::unique_ptr<MotorControllerGroup> m_group;
-
-  void SetUp() override {
-    switch (GetParam()) {
-      case TEST_ONE: {
-        m_motorControllers.emplace_back();
-        m_group = std::make_unique<MotorControllerGroup>(m_motorControllers[0]);
-        break;
-      }
-
-      case TEST_TWO: {
-        m_motorControllers.emplace_back();
-        m_motorControllers.emplace_back();
-        m_group = std::make_unique<MotorControllerGroup>(m_motorControllers[0],
-                                                         m_motorControllers[1]);
-        break;
-      }
-
-      case TEST_THREE: {
-        m_motorControllers.emplace_back();
-        m_motorControllers.emplace_back();
-        m_motorControllers.emplace_back();
-        m_group = std::make_unique<MotorControllerGroup>(m_motorControllers[0],
-                                                         m_motorControllers[1],
-                                                         m_motorControllers[2]);
-        break;
-      }
-    }
-  }
-};
-
-TEST_P(MotorControllerGroupTest, Set) {
-  m_group->Set(1.0);
-
-  for (auto& motorController : m_motorControllers) {
-    EXPECT_FLOAT_EQ(motorController.Get(), 1.0);
-  }
-}
-
-TEST_P(MotorControllerGroupTest, GetInverted) {
-  m_group->SetInverted(true);
-
-  EXPECT_TRUE(m_group->GetInverted());
-}
-
-TEST_P(MotorControllerGroupTest, SetInvertedDoesNotModifyMotorControllers) {
-  for (auto& motorController : m_motorControllers) {
-    motorController.SetInverted(false);
-  }
-  m_group->SetInverted(true);
-
-  for (auto& motorController : m_motorControllers) {
-    EXPECT_EQ(motorController.GetInverted(), false);
-  }
-}
-
-TEST_P(MotorControllerGroupTest, SetInvertedDoesInvert) {
-  m_group->SetInverted(true);
-  m_group->Set(1.0);
-
-  for (auto& motorController : m_motorControllers) {
-    EXPECT_FLOAT_EQ(motorController.Get(), -1.0);
-  }
-}
-
-TEST_P(MotorControllerGroupTest, Disable) {
-  m_group->Set(1.0);
-  m_group->Disable();
-
-  for (auto& motorController : m_motorControllers) {
-    EXPECT_FLOAT_EQ(motorController.Get(), 0.0);
-  }
-}
-
-TEST_P(MotorControllerGroupTest, StopMotor) {
-  m_group->Set(1.0);
-  m_group->StopMotor();
-
-  for (auto& motorController : m_motorControllers) {
-    EXPECT_FLOAT_EQ(motorController.Get(), 0.0);
-  }
-}
-
-INSTANTIATE_TEST_SUITE_P(Tests, MotorControllerGroupTest,
-                         testing::Values(TEST_ONE, TEST_TWO, TEST_THREE));
-
-WPI_UNIGNORE_DEPRECATED
diff --git a/wpilibj/src/main/java/org/wpilib/hardware/motor/MotorControllerGroup.java b/wpilibj/src/main/java/org/wpilib/hardware/motor/MotorControllerGroup.java
deleted file mode 100644
index 71368214ed..0000000000
--- a/wpilibj/src/main/java/org/wpilib/hardware/motor/MotorControllerGroup.java
+++ /dev/null
@@ -1,116 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package org.wpilib.hardware.motor;
-
-import java.util.Arrays;
-import org.wpilib.util.sendable.Sendable;
-import org.wpilib.util.sendable.SendableBuilder;
-import org.wpilib.util.sendable.SendableRegistry;
-
-/**
- * Allows multiple {@link MotorController} objects to be linked together.
- *
- * @deprecated Use {@link PWMMotorController#addFollower(PWMMotorController)} or if using CAN motor
- *     controllers, use their method of following.
- */
-@SuppressWarnings("removal")
-@Deprecated(forRemoval = true, since = "2024")
-public class MotorControllerGroup implements MotorController, Sendable, AutoCloseable {
-  private boolean m_isInverted;
-  private final MotorController[] m_motorControllers;
-  private static int instances;
-
-  /**
-   * Create a new MotorControllerGroup with the provided MotorControllers.
-   *
-   * @param motorController The first MotorController to add
-   * @param motorControllers The MotorControllers to add
-   */
-  @SuppressWarnings("this-escape")
-  public MotorControllerGroup(
-      MotorController motorController, MotorController... motorControllers) {
-    m_motorControllers = new MotorController[motorControllers.length + 1];
-    m_motorControllers[0] = motorController;
-    System.arraycopy(motorControllers, 0, m_motorControllers, 1, motorControllers.length);
-    init();
-  }
-
-  /**
-   * Create a new MotorControllerGroup with the provided MotorControllers.
-   *
-   * @param motorControllers The MotorControllers to add.
-   */
-  @SuppressWarnings("this-escape")
-  public MotorControllerGroup(MotorController[] motorControllers) {
-    m_motorControllers = Arrays.copyOf(motorControllers, motorControllers.length);
-    init();
-  }
-
-  private void init() {
-    for (MotorController controller : m_motorControllers) {
-      SendableRegistry.addChild(this, controller);
-    }
-    instances++;
-    SendableRegistry.add(this, "MotorControllerGroup", instances);
-  }
-
-  @Override
-  public void close() {
-    SendableRegistry.remove(this);
-  }
-
-  @Override
-  public void set(double speed) {
-    for (MotorController motorController : m_motorControllers) {
-      motorController.set(m_isInverted ? -speed : speed);
-    }
-  }
-
-  @Override
-  public void setVoltage(double outputVolts) {
-    for (MotorController motorController : m_motorControllers) {
-      motorController.setVoltage(m_isInverted ? -outputVolts : outputVolts);
-    }
-  }
-
-  @Override
-  public double get() {
-    if (m_motorControllers.length > 0) {
-      return m_motorControllers[0].get() * (m_isInverted ? -1 : 1);
-    }
-    return 0.0;
-  }
-
-  @Override
-  public void setInverted(boolean isInverted) {
-    m_isInverted = isInverted;
-  }
-
-  @Override
-  public boolean getInverted() {
-    return m_isInverted;
-  }
-
-  @Override
-  public void disable() {
-    for (MotorController motorController : m_motorControllers) {
-      motorController.disable();
-    }
-  }
-
-  @Override
-  public void stopMotor() {
-    for (MotorController motorController : m_motorControllers) {
-      motorController.stopMotor();
-    }
-  }
-
-  @Override
-  public void initSendable(SendableBuilder builder) {
-    builder.setSmartDashboardType("Motor Controller");
-    builder.setActuator(true);
-    builder.addDoubleProperty("Value", this::get, this::set);
-  }
-}
diff --git a/wpilibj/src/test/java/org/wpilib/hardware/motor/MotorControllerGroupTest.java b/wpilibj/src/test/java/org/wpilib/hardware/motor/MotorControllerGroupTest.java
deleted file mode 100644
index a9bf69be18..0000000000
--- a/wpilibj/src/test/java/org/wpilib/hardware/motor/MotorControllerGroupTest.java
+++ /dev/null
@@ -1,102 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package org.wpilib.hardware.motor;
-
-import static org.junit.jupiter.api.Assertions.assertArrayEquals;
-import static org.junit.jupiter.api.Assertions.assertTrue;
-
-import java.util.Arrays;
-import java.util.stream.DoubleStream;
-import java.util.stream.IntStream;
-import java.util.stream.Stream;
-import org.junit.jupiter.params.ParameterizedTest;
-import org.junit.jupiter.params.provider.Arguments;
-import org.junit.jupiter.params.provider.MethodSource;
-
-@SuppressWarnings("removal")
-class MotorControllerGroupTest {
-  private static Stream<Arguments> motorControllerArguments() {
-    return IntStream.of(1, 2, 3)
-        .mapToObj(
-            number -> {
-              MotorController[] motorControllers =
-                  Stream.generate(MockMotorController::new)
-                      .limit(number)
-                      .toArray(MotorController[]::new);
-              MotorControllerGroup group =
-                  new MotorControllerGroup(
-                      motorControllers[0],
-                      Arrays.copyOfRange(motorControllers, 1, motorControllers.length));
-              return Arguments.of(group, motorControllers);
-            });
-  }
-
-  @ParameterizedTest
-  @MethodSource("motorControllerArguments")
-  void setTest(final MotorControllerGroup group, final MotorController[] motorControllers) {
-    group.set(1.0);
-
-    assertArrayEquals(
-        DoubleStream.generate(() -> 1.0).limit(motorControllers.length).toArray(),
-        Arrays.stream(motorControllers).mapToDouble(MotorController::get).toArray(),
-        0.00005);
-  }
-
-  @ParameterizedTest
-  @MethodSource("motorControllerArguments")
-  void getInvertedTest(final MotorControllerGroup group, final MotorController[] motorControllers) {
-    group.setInverted(true);
-
-    assertTrue(group.getInverted());
-  }
-
-  @ParameterizedTest
-  @MethodSource("motorControllerArguments")
-  void setInvertedDoesNotModifyMotorControllersTest(
-      final MotorControllerGroup group, final MotorController[] motorControllers) {
-    group.setInverted(true);
-
-    assertArrayEquals(
-        Stream.generate(() -> false).limit(motorControllers.length).toArray(),
-        Arrays.stream(motorControllers).map(MotorController::getInverted).toArray());
-  }
-
-  @ParameterizedTest
-  @MethodSource("motorControllerArguments")
-  void setInvertedDoesInvertTest(
-      final MotorControllerGroup group, final MotorController[] motorControllers) {
-    group.setInverted(true);
-    group.set(1.0);
-
-    assertArrayEquals(
-        DoubleStream.generate(() -> -1.0).limit(motorControllers.length).toArray(),
-        Arrays.stream(motorControllers).mapToDouble(MotorController::get).toArray(),
-        0.00005);
-  }
-
-  @ParameterizedTest
-  @MethodSource("motorControllerArguments")
-  void disableTest(final MotorControllerGroup group, final MotorController[] motorControllers) {
-    group.set(1.0);
-    group.disable();
-
-    assertArrayEquals(
-        DoubleStream.generate(() -> 0.0).limit(motorControllers.length).toArray(),
-        Arrays.stream(motorControllers).mapToDouble(MotorController::get).toArray(),
-        0.00005);
-  }
-
-  @ParameterizedTest
-  @MethodSource("motorControllerArguments")
-  void stopMotorTest(final MotorControllerGroup group, final MotorController[] motorControllers) {
-    group.set(1.0);
-    group.stopMotor();
-
-    assertArrayEquals(
-        DoubleStream.generate(() -> 0.0).limit(motorControllers.length).toArray(),
-        Arrays.stream(motorControllers).mapToDouble(MotorController::get).toArray(),
-        0.00005);
-  }
-}