diff --git a/wpimath/src/test/java/edu/wpi/first/math/geometry/Transform2dTest.java b/wpimath/src/test/java/edu/wpi/first/math/geometry/Transform2dTest.java
index 7265e2582f..93d8a0e9af 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/geometry/Transform2dTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/geometry/Transform2dTest.java
@@ -4,14 +4,11 @@
 
 package edu.wpi.first.math.geometry;
 
-import static org.junit.jupiter.api.Assertions.assertAll;
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
 import org.junit.jupiter.api.Test;
 
 class Transform2dTest {
-  private static final double kEpsilon = 1E-9;
-
   @Test
   void testInverse() {
     var initial = new Pose2d(new Translation2d(1.0, 2.0), Rotation2d.fromDegrees(45.0));
@@ -20,14 +17,7 @@ class Transform2dTest {
     var transformed = initial.plus(transform);
     var untransformed = transformed.plus(transform.inverse());
 
-    assertAll(
-        () -> assertEquals(initial.getX(), untransformed.getX(), kEpsilon),
-        () -> assertEquals(initial.getY(), untransformed.getY(), kEpsilon),
-        () ->
-            assertEquals(
-                initial.getRotation().getDegrees(),
-                untransformed.getRotation().getDegrees(),
-                kEpsilon));
+    assertEquals(initial, untransformed);
   }
 
   @Test
@@ -39,13 +29,6 @@ class Transform2dTest {
     var transformedSeparate = initial.plus(transform1).plus(transform2);
     var transformedCombined = initial.plus(transform1.plus(transform2));
 
-    assertAll(
-        () -> assertEquals(transformedSeparate.getX(), transformedCombined.getX(), kEpsilon),
-        () -> assertEquals(transformedSeparate.getY(), transformedCombined.getY(), kEpsilon),
-        () ->
-            assertEquals(
-                transformedSeparate.getRotation().getDegrees(),
-                transformedCombined.getRotation().getDegrees(),
-                kEpsilon));
+    assertEquals(transformedSeparate, transformedCombined);
   }
 }
diff --git a/wpimath/src/test/java/edu/wpi/first/math/geometry/Transform3dTest.java b/wpimath/src/test/java/edu/wpi/first/math/geometry/Transform3dTest.java
index 122466c51e..51d5f071fc 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/geometry/Transform3dTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/geometry/Transform3dTest.java
@@ -4,7 +4,6 @@
 
 package edu.wpi.first.math.geometry;
 
-import static org.junit.jupiter.api.Assertions.assertAll;
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
 import edu.wpi.first.math.VecBuilder;
@@ -12,29 +11,21 @@ import edu.wpi.first.math.util.Units;
 import org.junit.jupiter.api.Test;
 
 class Transform3dTest {
-  private static final double kEpsilon = 1E-9;
-
   @Test
   void testInverse() {
     var zAxis = VecBuilder.fill(0.0, 0.0, 1.0);
 
     var initial =
         new Pose3d(
-            new Translation3d(1.0, 2.0, 0.0), new Rotation3d(zAxis, Units.degreesToRadians(45.0)));
+            new Translation3d(1.0, 2.0, 3.0), new Rotation3d(zAxis, Units.degreesToRadians(45.0)));
     var transform =
         new Transform3d(
-            new Translation3d(5.0, 0.0, 0.0), new Rotation3d(zAxis, Units.degreesToRadians(5.0)));
+            new Translation3d(5.0, 4.0, 3.0), new Rotation3d(zAxis, Units.degreesToRadians(5.0)));
 
     var transformed = initial.plus(transform);
     var untransformed = transformed.plus(transform.inverse());
 
-    assertAll(
-        () -> assertEquals(initial.getX(), untransformed.getX(), kEpsilon),
-        () -> assertEquals(initial.getY(), untransformed.getY(), kEpsilon),
-        () -> assertEquals(initial.getZ(), untransformed.getZ(), kEpsilon),
-        () ->
-            assertEquals(
-                initial.getRotation().getZ(), untransformed.getRotation().getZ(), kEpsilon));
+    assertEquals(initial, untransformed);
   }
 
   @Test
@@ -43,7 +34,7 @@ class Transform3dTest {
 
     var initial =
         new Pose3d(
-            new Translation3d(1.0, 2.0, 0.0), new Rotation3d(zAxis, Units.degreesToRadians(45.0)));
+            new Translation3d(1.0, 2.0, 3.0), new Rotation3d(zAxis, Units.degreesToRadians(45.0)));
     var transform1 =
         new Transform3d(
             new Translation3d(5.0, 0.0, 0.0), new Rotation3d(zAxis, Units.degreesToRadians(5.0)));
@@ -54,14 +45,6 @@ class Transform3dTest {
     var transformedSeparate = initial.plus(transform1).plus(transform2);
     var transformedCombined = initial.plus(transform1.plus(transform2));
 
-    assertAll(
-        () -> assertEquals(transformedSeparate.getX(), transformedCombined.getX(), kEpsilon),
-        () -> assertEquals(transformedSeparate.getY(), transformedCombined.getY(), kEpsilon),
-        () -> assertEquals(transformedSeparate.getZ(), transformedCombined.getZ(), kEpsilon),
-        () ->
-            assertEquals(
-                transformedSeparate.getRotation().getZ(),
-                transformedCombined.getRotation().getZ(),
-                kEpsilon));
+    assertEquals(transformedSeparate, transformedCombined);
   }
 }
diff --git a/wpimath/src/test/native/cpp/geometry/Transform2dTest.cpp b/wpimath/src/test/native/cpp/geometry/Transform2dTest.cpp
index 2dd619d182..1b0934d6ca 100644
--- a/wpimath/src/test/native/cpp/geometry/Transform2dTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/Transform2dTest.cpp
@@ -19,10 +19,7 @@ TEST(Transform2dTest, Inverse) {
   auto transformed = initial + transform;
   auto untransformed = transformed + transform.Inverse();
 
-  EXPECT_NEAR(initial.X().value(), untransformed.X().value(), 1e-9);
-  EXPECT_DOUBLE_EQ(initial.Y().value(), untransformed.Y().value());
-  EXPECT_DOUBLE_EQ(initial.Rotation().Degrees().value(),
-                   untransformed.Rotation().Degrees().value());
+  EXPECT_EQ(initial, untransformed);
 }
 
 TEST(Transform2dTest, Composition) {
@@ -33,12 +30,7 @@ TEST(Transform2dTest, Composition) {
   auto transformedSeparate = initial + transform1 + transform2;
   auto transformedCombined = initial + (transform1 + transform2);
 
-  EXPECT_DOUBLE_EQ(transformedSeparate.X().value(),
-                   transformedCombined.X().value());
-  EXPECT_DOUBLE_EQ(transformedSeparate.Y().value(),
-                   transformedCombined.Y().value());
-  EXPECT_DOUBLE_EQ(transformedSeparate.Rotation().Degrees().value(),
-                   transformedCombined.Rotation().Degrees().value());
+  EXPECT_EQ(transformedSeparate, transformedCombined);
 }
 
 TEST(Transform2dTest, Constexpr) {
diff --git a/wpimath/src/test/native/cpp/geometry/Transform3dTest.cpp b/wpimath/src/test/native/cpp/geometry/Transform3dTest.cpp
index 7361096d7f..904ec9c06e 100644
--- a/wpimath/src/test/native/cpp/geometry/Transform3dTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/Transform3dTest.cpp
@@ -15,35 +15,24 @@ using namespace frc;
 TEST(Transform3dTest, Inverse) {
   Eigen::Vector3d zAxis{0.0, 0.0, 1.0};
 
-  const Pose3d initial{1_m, 2_m, 0_m, Rotation3d{zAxis, 45_deg}};
-  const Transform3d transform{{5_m, 0_m, 0_m}, Rotation3d{zAxis, 5_deg}};
+  const Pose3d initial{1_m, 2_m, 3_m, Rotation3d{zAxis, 45_deg}};
+  const Transform3d transform{{5_m, 4_m, 3_m}, Rotation3d{zAxis, 5_deg}};
 
   auto transformed = initial + transform;
   auto untransformed = transformed + transform.Inverse();
 
-  EXPECT_NEAR(initial.X().value(), untransformed.X().value(), 1e-9);
-  EXPECT_DOUBLE_EQ(initial.Y().value(), untransformed.Y().value());
-  EXPECT_DOUBLE_EQ(initial.Z().value(), untransformed.Z().value());
-  EXPECT_DOUBLE_EQ(initial.Rotation().Z().value(),
-                   untransformed.Rotation().Z().value());
+  EXPECT_EQ(initial, untransformed);
 }
 
 TEST(Transform3dTest, Composition) {
   Eigen::Vector3d zAxis{0.0, 0.0, 1.0};
 
-  const Pose3d initial{1_m, 2_m, 0_m, Rotation3d{zAxis, 45_deg}};
+  const Pose3d initial{1_m, 2_m, 3_m, Rotation3d{zAxis, 45_deg}};
   const Transform3d transform1{{5_m, 0_m, 0_m}, Rotation3d{zAxis, 5_deg}};
   const Transform3d transform2{{0_m, 2_m, 0_m}, Rotation3d{zAxis, 5_deg}};
 
   auto transformedSeparate = initial + transform1 + transform2;
   auto transformedCombined = initial + (transform1 + transform2);
 
-  EXPECT_DOUBLE_EQ(transformedSeparate.X().value(),
-                   transformedCombined.X().value());
-  EXPECT_DOUBLE_EQ(transformedSeparate.Y().value(),
-                   transformedCombined.Y().value());
-  EXPECT_DOUBLE_EQ(transformedSeparate.Z().value(),
-                   transformedCombined.Z().value());
-  EXPECT_DOUBLE_EQ(transformedSeparate.Rotation().Z().value(),
-                   transformedCombined.Rotation().Z().value());
+  EXPECT_EQ(transformedSeparate, transformedCombined);
 }