diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveKinematics.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveKinematics.java
index d67a781647..c8a443904f 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveKinematics.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveKinematics.java
@@ -8,7 +8,6 @@ import static edu.wpi.first.units.Units.Meters;
 
 import edu.wpi.first.math.MathSharedStore;
 import edu.wpi.first.math.MathUsageId;
-import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.geometry.Twist2d;
 import edu.wpi.first.math.kinematics.proto.DifferentialDriveKinematicsProto;
 import edu.wpi.first.math.kinematics.struct.DifferentialDriveKinematicsStruct;
@@ -132,8 +131,6 @@ public class DifferentialDriveKinematics
       DifferentialDriveWheelPositions startValue,
       DifferentialDriveWheelPositions endValue,
       double t) {
-    return new DifferentialDriveWheelPositions(
-        MathUtil.interpolate(startValue.leftMeters, endValue.leftMeters, t),
-        MathUtil.interpolate(startValue.rightMeters, endValue.rightMeters, t));
+    return startValue.interpolate(endValue, t);
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveWheelPositions.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveWheelPositions.java
index ef4e5b0e92..d97285f646 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveWheelPositions.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveWheelPositions.java
@@ -7,6 +7,7 @@ package edu.wpi.first.math.kinematics;
 import static edu.wpi.first.units.Units.Meters;
 
 import edu.wpi.first.math.MathUtil;
+import edu.wpi.first.math.interpolation.Interpolatable;
 import edu.wpi.first.math.kinematics.proto.DifferentialDriveWheelPositionsProto;
 import edu.wpi.first.math.kinematics.struct.DifferentialDriveWheelPositionsStruct;
 import edu.wpi.first.units.Distance;
@@ -15,7 +16,7 @@ import java.util.Objects;
 
 /** Represents the wheel positions for a differential drive drivetrain. */
 public class DifferentialDriveWheelPositions
-    implements WheelPositions<DifferentialDriveWheelPositions> {
+    implements Interpolatable<DifferentialDriveWheelPositions> {
   /** Distance measured by the left side. */
   public double leftMeters;
 
@@ -69,11 +70,6 @@ public class DifferentialDriveWheelPositions
         "DifferentialDriveWheelPositions(Left: %.2f m, Right: %.2f m", leftMeters, rightMeters);
   }
 
-  @Override
-  public DifferentialDriveWheelPositions copy() {
-    return new DifferentialDriveWheelPositions(leftMeters, rightMeters);
-  }
-
   @Override
   public DifferentialDriveWheelPositions interpolate(
       DifferentialDriveWheelPositions endValue, double t) {
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveKinematics.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveKinematics.java
index 26108088c6..0135af24d6 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveKinematics.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveKinematics.java
@@ -6,7 +6,6 @@ package edu.wpi.first.math.kinematics;
 
 import edu.wpi.first.math.MathSharedStore;
 import edu.wpi.first.math.MathUsageId;
-import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.geometry.Twist2d;
 import edu.wpi.first.math.kinematics.proto.MecanumDriveKinematicsProto;
@@ -277,10 +276,6 @@ public class MecanumDriveKinematics
   @Override
   public MecanumDriveWheelPositions interpolate(
       MecanumDriveWheelPositions startValue, MecanumDriveWheelPositions endValue, double t) {
-    return new MecanumDriveWheelPositions(
-        MathUtil.interpolate(startValue.frontLeftMeters, endValue.frontLeftMeters, t),
-        MathUtil.interpolate(startValue.frontRightMeters, endValue.frontRightMeters, t),
-        MathUtil.interpolate(startValue.rearLeftMeters, endValue.rearLeftMeters, t),
-        MathUtil.interpolate(startValue.rearRightMeters, endValue.rearRightMeters, t));
+    return startValue.interpolate(endValue, t);
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveWheelPositions.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveWheelPositions.java
index e193dbdc4b..1dc14a8292 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveWheelPositions.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveWheelPositions.java
@@ -7,6 +7,7 @@ package edu.wpi.first.math.kinematics;
 import static edu.wpi.first.units.Units.Meters;
 
 import edu.wpi.first.math.MathUtil;
+import edu.wpi.first.math.interpolation.Interpolatable;
 import edu.wpi.first.math.kinematics.proto.MecanumDriveWheelPositionsProto;
 import edu.wpi.first.math.kinematics.struct.MecanumDriveWheelPositionsStruct;
 import edu.wpi.first.units.Distance;
@@ -17,7 +18,7 @@ import java.util.Objects;
 
 /** Represents the wheel positions for a mecanum drive drivetrain. */
 public class MecanumDriveWheelPositions
-    implements WheelPositions<MecanumDriveWheelPositions>,
+    implements Interpolatable<MecanumDriveWheelPositions>,
         ProtobufSerializable,
         StructSerializable {
   /** Distance measured by the front left wheel. */
@@ -99,12 +100,6 @@ public class MecanumDriveWheelPositions
         frontLeftMeters, frontRightMeters, rearLeftMeters, rearRightMeters);
   }
 
-  @Override
-  public MecanumDriveWheelPositions copy() {
-    return new MecanumDriveWheelPositions(
-        frontLeftMeters, frontRightMeters, rearLeftMeters, rearRightMeters);
-  }
-
   @Override
   public MecanumDriveWheelPositions interpolate(MecanumDriveWheelPositions endValue, double t) {
     return new MecanumDriveWheelPositions(
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/WheelPositions.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/WheelPositions.java
deleted file mode 100644
index c0167e3e86..0000000000
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/WheelPositions.java
+++ /dev/null
@@ -1,21 +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 edu.wpi.first.math.kinematics;
-
-import edu.wpi.first.math.interpolation.Interpolatable;
-
-/**
- * Interface for wheel positions.
- *
- * @param <T> Wheel positions type.
- */
-public interface WheelPositions<T extends WheelPositions<T>> extends Interpolatable<T> {
-  /**
-   * Returns a copy of this instance.
-   *
-   * @return A copy.
-   */
-  T copy();
-}
diff --git a/wpimath/src/main/native/include/frc/estimator/PoseEstimator.h b/wpimath/src/main/native/include/frc/estimator/PoseEstimator.h
index da9f4f3ee6..f75a5afec7 100644
--- a/wpimath/src/main/native/include/frc/estimator/PoseEstimator.h
+++ b/wpimath/src/main/native/include/frc/estimator/PoseEstimator.h
@@ -19,7 +19,6 @@
 #include "frc/interpolation/TimeInterpolatableBuffer.h"
 #include "frc/kinematics/Kinematics.h"
 #include "frc/kinematics/Odometry.h"
-#include "frc/kinematics/WheelPositions.h"
 #include "units/time.h"
 #include "wpimath/MathShared.h"
 
diff --git a/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveKinematics.h b/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveKinematics.h
index a1be448c7b..fbbb519182 100644
--- a/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveKinematics.h
+++ b/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveKinematics.h
@@ -91,8 +91,7 @@ class WPILIB_DLLEXPORT DifferentialDriveKinematics
   DifferentialDriveWheelPositions Interpolate(
       const DifferentialDriveWheelPositions& start,
       const DifferentialDriveWheelPositions& end, double t) const override {
-    return {wpi::Lerp(start.left, end.left, t),
-            wpi::Lerp(start.right, end.right, t)};
+    return start.Interpolate(end, t);
   }
 
   /// Differential drive trackwidth.
diff --git a/wpimath/src/main/native/include/frc/kinematics/MecanumDriveKinematics.h b/wpimath/src/main/native/include/frc/kinematics/MecanumDriveKinematics.h
index 6c3d664496..218908fd31 100644
--- a/wpimath/src/main/native/include/frc/kinematics/MecanumDriveKinematics.h
+++ b/wpimath/src/main/native/include/frc/kinematics/MecanumDriveKinematics.h
@@ -169,10 +169,7 @@ class WPILIB_DLLEXPORT MecanumDriveKinematics
   MecanumDriveWheelPositions Interpolate(
       const MecanumDriveWheelPositions& start,
       const MecanumDriveWheelPositions& end, double t) const override {
-    return {wpi::Lerp(start.frontLeft, end.frontLeft, t),
-            wpi::Lerp(start.frontRight, end.frontRight, t),
-            wpi::Lerp(start.rearLeft, end.rearLeft, t),
-            wpi::Lerp(start.rearRight, end.rearRight, t)};
+    return start.Interpolate(end, t);
   }
 
  private:
diff --git a/wpimath/src/main/native/include/frc/kinematics/Odometry.h b/wpimath/src/main/native/include/frc/kinematics/Odometry.h
index c0daea0e3e..e5a8e0f618 100644
--- a/wpimath/src/main/native/include/frc/kinematics/Odometry.h
+++ b/wpimath/src/main/native/include/frc/kinematics/Odometry.h
@@ -10,7 +10,6 @@
 #include "frc/geometry/Rotation2d.h"
 #include "frc/geometry/Translation2d.h"
 #include "frc/kinematics/Kinematics.h"
-#include "frc/kinematics/WheelPositions.h"
 
 namespace frc {
 /**
diff --git a/wpimath/src/main/native/include/frc/kinematics/WheelPositions.h b/wpimath/src/main/native/include/frc/kinematics/WheelPositions.h
deleted file mode 100644
index 8867f6662a..0000000000
--- a/wpimath/src/main/native/include/frc/kinematics/WheelPositions.h
+++ /dev/null
@@ -1,15 +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 <concepts>
-
-namespace frc {
-template <typename T>
-concept WheelPositions =
-    std::copy_constructible<T> && requires(T a, T b, double t) {
-      { a.Interpolate(b, t) } -> std::convertible_to<T>;
-    };
-}  // namespace frc