diff --git a/simulation/halsim_gazebo/build.gradle b/simulation/halsim_gazebo/build.gradle
index 8e6878550b..55a3597212 100644
--- a/simulation/halsim_gazebo/build.gradle
+++ b/simulation/halsim_gazebo/build.gradle
@@ -47,6 +47,7 @@ model {
             linker.args gazebo_linker_args
             cppCompiler.args gazebo_cppflags
             lib project: ":simulation:gz_msgs", library: "gz_msgs", linkage: "static"
+            lib project: ":wpiutil", library: "wpiutil", linkage: "static"
         }
     }
 }
diff --git a/simulation/halsim_gazebo/src/main/native/cpp/GazeboAnalogIn.cpp b/simulation/halsim_gazebo/src/main/native/cpp/GazeboAnalogIn.cpp
index 80b18f7c39..d9ce9a9a31 100644
--- a/simulation/halsim_gazebo/src/main/native/cpp/GazeboAnalogIn.cpp
+++ b/simulation/halsim_gazebo/src/main/native/cpp/GazeboAnalogIn.cpp
@@ -4,8 +4,7 @@
 
 #include "GazeboAnalogIn.h"
 
-#include <string>
-
+#include <fmt/format.h>
 #include <hal/Power.h>
 #include <hal/Value.h>
 #include <hal/simulation/AnalogInData.h>
@@ -30,7 +29,7 @@ GazeboAnalogIn::GazeboAnalogIn(int index, HALSimGazebo* halsim) {
 void GazeboAnalogIn::Listen() {
   if (!m_sub)
     m_sub = m_halsim->node.Subscribe<gazebo::msgs::Float64>(
-        "~/simulator/analog/" + std::to_string(m_index),
+        fmt::format("~/simulator/analog/{}", m_index),
         &GazeboAnalogIn::Callback, this);
 }
 
diff --git a/simulation/halsim_gazebo/src/main/native/cpp/GazeboDIO.cpp b/simulation/halsim_gazebo/src/main/native/cpp/GazeboDIO.cpp
index f544c7a2c3..85d4ea6746 100644
--- a/simulation/halsim_gazebo/src/main/native/cpp/GazeboDIO.cpp
+++ b/simulation/halsim_gazebo/src/main/native/cpp/GazeboDIO.cpp
@@ -4,8 +4,7 @@
 
 #include "GazeboDIO.h"
 
-#include <string>
-
+#include <fmt/format.h>
 #include <hal/Value.h>
 #include <hal/simulation/DIOData.h>
 #include <hal/simulation/NotifyListener.h>
@@ -29,8 +28,7 @@ GazeboDIO::GazeboDIO(int index, HALSimGazebo* halsim) {
 void GazeboDIO::Listen() {
   if (!m_sub)
     m_sub = m_halsim->node.Subscribe<gazebo::msgs::Bool>(
-        "~/simulator/dio/" + std::to_string(m_index), &GazeboDIO::Callback,
-        this);
+        fmt::format("~/simulator/dio/{}", m_index), &GazeboDIO::Callback, this);
 }
 
 void GazeboDIO::Callback(const gazebo::msgs::ConstBoolPtr& msg) {
diff --git a/simulation/halsim_gazebo/src/main/native/cpp/GazeboEncoder.cpp b/simulation/halsim_gazebo/src/main/native/cpp/GazeboEncoder.cpp
index 1a95cb48c8..519bf2ba2a 100644
--- a/simulation/halsim_gazebo/src/main/native/cpp/GazeboEncoder.cpp
+++ b/simulation/halsim_gazebo/src/main/native/cpp/GazeboEncoder.cpp
@@ -4,8 +4,7 @@
 
 #include "GazeboEncoder.h"
 
-#include <string>
-
+#include <fmt/format.h>
 #include <hal/Value.h>
 #include <hal/simulation/EncoderData.h>
 #include <hal/simulation/NotifyListener.h>
@@ -51,8 +50,8 @@ GazeboEncoder::GazeboEncoder(int index, HALSimGazebo* halsim) {
 void GazeboEncoder::Control(const char* command) {
   if (!m_pub) {
     m_pub = m_halsim->node.Advertise<gazebo::msgs::String>(
-        "~/simulator/encoder/dio/" +
-        std::to_string(HALSIM_GetEncoderDigitalChannelA(m_index)) + "/control");
+        fmt::format("~/simulator/encoder/dio/{}/control",
+                    HALSIM_GetEncoderDigitalChannelA(m_index)));
     m_pub->WaitForConnection(gazebo::common::Time(1, 0));
   }
   gazebo::msgs::String msg;
@@ -64,9 +63,8 @@ void GazeboEncoder::Control(const char* command) {
 void GazeboEncoder::Listen() {
   if (!m_sub)
     m_sub = m_halsim->node.Subscribe<gazebo::msgs::Float64>(
-        "~/simulator/encoder/dio/" +
-            std::to_string(HALSIM_GetEncoderDigitalChannelA(m_index)) +
-            "/position",
+        fmt::format("~/simulator/encoder/dio/{}/position",
+                    HALSIM_GetEncoderDigitalChannelA(m_index)),
         &GazeboEncoder::Callback, this);
 }
 
diff --git a/simulation/halsim_gazebo/src/main/native/cpp/GazeboPCM.cpp b/simulation/halsim_gazebo/src/main/native/cpp/GazeboPCM.cpp
index 524efb1a5f..2549061a88 100644
--- a/simulation/halsim_gazebo/src/main/native/cpp/GazeboPCM.cpp
+++ b/simulation/halsim_gazebo/src/main/native/cpp/GazeboPCM.cpp
@@ -4,8 +4,7 @@
 
 #include "GazeboPCM.h"
 
-#include <string>
-
+#include <fmt/format.h>
 #include <hal/Value.h>
 #include <hal/simulation/CTREPCMData.h>
 #include <hal/simulation/NotifyListener.h>
@@ -38,8 +37,7 @@ GazeboPCM::GazeboPCM(int index, int channel, HALSimGazebo* halsim) {
 void GazeboPCM::Publish(bool value) {
   if (!m_pub) {
     m_pub = m_halsim->node.Advertise<gazebo::msgs::Bool>(
-        "~/simulator/pneumatic/" + std::to_string(m_index + 1) + "/" +
-        std::to_string(m_channel));
+        fmt::format("~/simulator/pneumatic/{}/{}", m_index + 1, m_channel));
     m_pub->WaitForConnection(gazebo::common::Time(1, 0));
   }
   gazebo::msgs::Bool msg;
diff --git a/simulation/halsim_gazebo/src/main/native/cpp/GazeboPWM.cpp b/simulation/halsim_gazebo/src/main/native/cpp/GazeboPWM.cpp
index af71e121d2..0780f07419 100644
--- a/simulation/halsim_gazebo/src/main/native/cpp/GazeboPWM.cpp
+++ b/simulation/halsim_gazebo/src/main/native/cpp/GazeboPWM.cpp
@@ -4,8 +4,7 @@
 
 #include "GazeboPWM.h"
 
-#include <string>
-
+#include <fmt/format.h>
 #include <hal/Value.h>
 #include <hal/simulation/NotifyListener.h>
 #include <hal/simulation/PWMData.h>
@@ -35,7 +34,7 @@ GazeboPWM::GazeboPWM(int port, HALSimGazebo* halsim) {
 void GazeboPWM::Publish(double value) {
   if (!m_pub) {
     m_pub = m_halsim->node.Advertise<gazebo::msgs::Float64>(
-        "~/simulator/pwm/" + std::to_string(m_port));
+        fmt::format("~/simulator/pwm/{}", m_port));
     m_pub->WaitForConnection(gazebo::common::Time(1, 0));
   }
   gazebo::msgs::Float64 msg;
diff --git a/wpilibNewCommands/.styleguide b/wpilibNewCommands/.styleguide
index 11a1339f39..3f20ec8a2a 100644
--- a/wpilibNewCommands/.styleguide
+++ b/wpilibNewCommands/.styleguide
@@ -15,6 +15,7 @@ repoRootNameOverride {
 includeOtherLibs {
   ^cameraserver/
   ^cscore
+  ^fmt/
   ^frc/
   ^hal/
   ^imgui
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/WaitCommand.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/WaitCommand.cpp
index 0727602e43..da03540ac3 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/WaitCommand.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/WaitCommand.cpp
@@ -5,12 +5,12 @@
 #include "frc2/command/WaitCommand.h"
 
 #include <fmt/format.h>
+#include <frc/fmt/Units.h>
 
 using namespace frc2;
 
 WaitCommand::WaitCommand(units::second_t duration) : m_duration{duration} {
-  auto durationStr = std::to_string(duration.to<double>());
-  SetName(fmt::format("{}: {} seconds", GetName(), durationStr));
+  SetName(fmt::format("{}: {}", GetName(), duration));
 }
 
 void WaitCommand::Initialize() {
diff --git a/wpimath/src/main/native/cpp/trajectory/TrajectoryParameterizer.cpp b/wpimath/src/main/native/cpp/trajectory/TrajectoryParameterizer.cpp
index 98181dc6f0..18fcd78090 100644
--- a/wpimath/src/main/native/cpp/trajectory/TrajectoryParameterizer.cpp
+++ b/wpimath/src/main/native/cpp/trajectory/TrajectoryParameterizer.cpp
@@ -28,7 +28,7 @@
 
 #include "frc/trajectory/TrajectoryParameterizer.h"
 
-#include <string>
+#include <fmt/format.h>
 
 #include "units/math.h"
 
@@ -193,9 +193,9 @@ Trajectory TrajectoryParameterizer::TimeParameterizeTrajectory(
         // delta_x = v * t
         dt = ds / v;
       } else {
-        throw std::runtime_error("Something went wrong at iteration " +
-                                 std::to_string(i) +
-                                 " of time parameterization.");
+        throw std::runtime_error(fmt::format(
+            "Something went wrong at iteration {} of time parameterization.",
+            i));
       }
     }