diff --git a/upstream_utils/eigen.py b/upstream_utils/eigen.py
index 44d2bc6934..7cbdf1872e 100755
--- a/upstream_utils/eigen.py
+++ b/upstream_utils/eigen.py
@@ -154,7 +154,7 @@ def copy_upstream_src(wpilib_root: Path):
 def main():
     name = "eigen"
     url = "https://gitlab.com/libeigen/eigen.git"
-    tag = "5.0.0"
+    tag = "5.0.1"
 
     eigen = Lib(name, url, tag, copy_upstream_src)
     eigen.main()
diff --git a/wpimath/src/main/native/thirdparty/eigen/include/Eigen/Core b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/Core
index 546625bb1f..5f244062a8 100644
--- a/wpimath/src/main/native/thirdparty/eigen/include/Eigen/Core
+++ b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/Core
@@ -106,6 +106,11 @@
 #include <thread>
 #endif
 
+// for __cpp_lib feature test macros
+#if defined(__has_include) && __has_include(<version>)
+#include <version>
+#endif
+
 // for std::bit_cast()
 #if defined(__cpp_lib_bit_cast) && __cpp_lib_bit_cast >= 201806L
 #include <bit>
diff --git a/wpimath/src/main/native/thirdparty/eigen/include/Eigen/Version b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/Version
index 91936c2e21..9cfd71ff58 100644
--- a/wpimath/src/main/native/thirdparty/eigen/include/Eigen/Version
+++ b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/Version
@@ -6,9 +6,9 @@
 // As of Eigen3 5.0.0, we have moved to Semantic Versioning (semver.org).
 #define EIGEN_MAJOR_VERSION 5
 #define EIGEN_MINOR_VERSION 0
-#define EIGEN_PATCH_VERSION 0
+#define EIGEN_PATCH_VERSION 1
 #define EIGEN_PRERELEASE_VERSION ""
 #define EIGEN_BUILD_VERSION ""
-#define EIGEN_VERSION_STRING "5.0.0"
+#define EIGEN_VERSION_STRING "5.0.1"
 
 #endif  // EIGEN_VERSION_H
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 e4c5fedc3f..084f503f2f 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
@@ -94,7 +94,7 @@ class CwiseNullaryOp : public internal::dense_xpr_base<CwiseNullaryOp<NullaryOp,
  * the returned matrix. Must be compatible with this MatrixBase type.
  *
  * This variant is meant to be used for dynamic-size matrix types. For fixed-size types,
- * it is redundant to pass \a rows and \a cols as arguments, so Zero() should be used
+ * it is redundant to pass \a rows and \a cols as arguments, so NullaryExpr(const CustomNullaryOp&) should be used
  * instead.
  *
  * The template parameter \a CustomNullaryOp is the type of the functor.
@@ -121,7 +121,7 @@ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
  * \only_for_vectors
  *
  * This variant is meant to be used for dynamic-size vector types. For fixed-size types,
- * it is redundant to pass \a size as argument, so Zero() should be used
+ * it is redundant to pass \a size as argument, so NullaryExpr(const CustomNullaryOp&) should be used
  * instead.
  *
  * The template parameter \a CustomNullaryOp is the type of the functor.
@@ -174,7 +174,7 @@ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
  * the returned matrix. Must be compatible with this DenseBase type.
  *
  * This variant is meant to be used for dynamic-size matrix types. For fixed-size types,
- * it is redundant to pass \a rows and \a cols as arguments, so Zero() should be used
+ * it is redundant to pass \a rows and \a cols as arguments, so Constant(const Scalar&) should be used
  * instead.
  *
  * The template parameter \a CustomNullaryOp is the type of the functor.
@@ -195,7 +195,7 @@ DenseBase<Derived>::Constant(Index rows, Index cols, const Scalar& value) {
  * \only_for_vectors
  *
  * This variant is meant to be used for dynamic-size vector types. For fixed-size types,
- * it is redundant to pass \a size as argument, so Zero() should be used
+ * it is redundant to pass \a size as argument, so Constant(const Scalar&) should be used
  * instead.
  *
  * The template parameter \a CustomNullaryOp is the type of the functor.
diff --git a/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/DenseStorage.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/DenseStorage.h
index d62586c99b..45c8779ace 100644
--- a/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/DenseStorage.h
+++ b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/DenseStorage.h
@@ -65,7 +65,8 @@ struct plain_array {
 
 template <typename T, int Size, int MatrixOrArrayOptions>
 struct plain_array<T, Size, MatrixOrArrayOptions, 0> {
-  T array[Size];
+  // on some 32-bit platforms, stack-allocated arrays are aligned to 4 bytes, not the preferred alignment of T
+  EIGEN_ALIGN_TO_BOUNDARY(alignof(T)) T array[Size];
 #if defined(EIGEN_NO_DEBUG) || defined(EIGEN_TESTING_PLAINOBJECT_CTOR)
   EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE constexpr plain_array() = default;
 #else
@@ -73,12 +74,6 @@ struct plain_array<T, Size, MatrixOrArrayOptions, 0> {
 #endif
 };
 
-template <typename T, int MatrixOrArrayOptions, int Alignment>
-struct plain_array<T, 0, MatrixOrArrayOptions, Alignment> {
-  T array[1];
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE constexpr plain_array() = default;
-};
-
 template <typename T, int Size, int Options, int Alignment>
 EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE constexpr void swap_plain_array(plain_array<T, Size, Options, Alignment>& a,
                                                                       plain_array<T, Size, Options, Alignment>& b,
diff --git a/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/Fill.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/Fill.h
index f40d56db6b..779ef26ab5 100644
--- a/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/Fill.h
+++ b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/Fill.h
@@ -115,17 +115,15 @@ struct eigen_zero_impl<Xpr, /*use_memset*/ false> {
 template <typename Xpr>
 struct eigen_zero_impl<Xpr, /*use_memset*/ true> {
   using Scalar = typename Xpr::Scalar;
-  static constexpr size_t max_bytes = (std::numeric_limits<std::ptrdiff_t>::max)();
   static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void run(Xpr& dst) {
-    const size_t num_bytes = dst.size() * sizeof(Scalar);
-    if (num_bytes == 0) return;
+    const std::ptrdiff_t num_bytes = dst.size() * static_cast<std::ptrdiff_t>(sizeof(Scalar));
+    if (num_bytes <= 0) return;
     void* dst_ptr = static_cast<void*>(dst.data());
 #ifndef EIGEN_NO_DEBUG
-    if (num_bytes > max_bytes) throw_std_bad_alloc();
     eigen_assert((dst_ptr != nullptr) && "null pointer dereference error!");
 #endif
     EIGEN_USING_STD(memset);
-    memset(dst_ptr, 0, num_bytes);
+    memset(dst_ptr, 0, static_cast<std::size_t>(num_bytes));
   }
   template <typename SrcXpr>
   static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void run(Xpr& dst, const SrcXpr& src) {
diff --git a/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/InnerProduct.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/InnerProduct.h
index 9849d9b1fe..686ad1379c 100644
--- a/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/InnerProduct.h
+++ b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/InnerProduct.h
@@ -211,8 +211,14 @@ struct scalar_inner_product_op {
   static constexpr bool PacketAccess = false;
 };
 
+// Partial specialization for packet access if and only if
+// LhsScalar == RhsScalar == ScalarBinaryOpTraits<LhsScalar, RhsScalar>::ReturnType.
 template <typename Scalar, bool Conj>
-struct scalar_inner_product_op<Scalar, Scalar, Conj> {
+struct scalar_inner_product_op<
+    Scalar,
+    typename std::enable_if<internal::is_same<typename ScalarBinaryOpTraits<Scalar, Scalar>::ReturnType, Scalar>::value,
+                            Scalar>::type,
+    Conj> {
   using result_type = Scalar;
   using conj_helper = conditional_conj<Scalar, Conj>;
   EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar coeff(const Scalar& a, const Scalar& b) const {
diff --git a/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/MathFunctions.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/MathFunctions.h
index 155fdad20e..5e36ce84d4 100644
--- a/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/MathFunctions.h
+++ b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/MathFunctions.h
@@ -1004,8 +1004,7 @@ struct madd_impl {
   }
 };
 
-// Use FMA if there is a single CPU instruction.
-#ifdef EIGEN_VECTORIZE_FMA
+#if EIGEN_SCALAR_MADD_USE_FMA
 template <typename Scalar>
 struct madd_impl<Scalar, std::enable_if_t<has_fma<Scalar>::value>> {
   static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar run(const Scalar& x, const Scalar& y, const Scalar& z) {
@@ -1927,7 +1926,6 @@ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar arithmetic_shift_right(const Scalar
   return bit_cast<Scalar, SignedScalar>(bit_cast<SignedScalar, Scalar>(a) >> n);
 }
 
-// Otherwise, rely on template implementation.
 template <typename Scalar>
 EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar fma(const Scalar& x, const Scalar& y, const Scalar& z) {
   return internal::fma_impl<Scalar>::run(x, y, z);
diff --git a/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/PermutationMatrix.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/PermutationMatrix.h
index eb8e797820..7713354516 100644
--- a/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/PermutationMatrix.h
+++ b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/PermutationMatrix.h
@@ -109,6 +109,9 @@ class PermutationBase : public EigenBase<Derived> {
    */
   DenseMatrixType toDenseMatrix() const { return derived(); }
 
+  /** \returns the plain matrix representation of the permutation. */
+  DenseMatrixType eval() const { return toDenseMatrix(); }
+
   /** const version of indices(). */
   const IndicesType& indices() const { return derived().indices(); }
   /** \returns a reference to the stored array representing the permutation. */
diff --git a/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/arch/AVX/PacketMath.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/arch/AVX/PacketMath.h
index 0cd9e6cd6c..b1dfb07ff5 100644
--- a/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/arch/AVX/PacketMath.h
+++ b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/arch/AVX/PacketMath.h
@@ -2831,7 +2831,7 @@ inline __m128i segment_mask_4x8(Index begin, Index count) {
   mask <<= CHAR_BIT * count;
   mask--;
   mask <<= CHAR_BIT * begin;
-#if defined(_WIN32) && !defined(_WIN64)
+#if !EIGEN_ARCH_x86_64
   return _mm_loadl_epi64(reinterpret_cast<const __m128i*>(&mask));
 #else
   return _mm_cvtsi64_si128(mask);
@@ -2847,7 +2847,7 @@ inline __m128i segment_mask_8x8(Index begin, Index count) {
   mask <<= (CHAR_BIT / 2) * count;
   mask--;
   mask <<= CHAR_BIT * begin;
-#if defined(_WIN32) && !defined(_WIN64)
+#if !EIGEN_ARCH_x86_64
   return _mm_loadl_epi64(reinterpret_cast<const __m128i*>(&mask));
 #else
   return _mm_cvtsi64_si128(mask);
diff --git a/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/arch/AVX/TypeCasting.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/arch/AVX/TypeCasting.h
index 5b73ffe860..767e2d554f 100644
--- a/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/arch/AVX/TypeCasting.h
+++ b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/arch/AVX/TypeCasting.h
@@ -240,8 +240,8 @@ EIGEN_STRONG_INLINE Packet4d pcast<Packet4l, Packet4d>(const Packet4l& a) {
 #if defined(EIGEN_VECTORIZE_AVX512DQ) && defined(EIGEN_VECTORIZE_AVS512VL)
   return _mm256_cvtepi64_pd(a);
 #else
-  EIGEN_ALIGN16 int64_t aux[4];
-  pstore(aux, a);
+  int64_t aux[4];
+  pstoreu(aux, a);
   return _mm256_set_pd(static_cast<double>(aux[3]), static_cast<double>(aux[2]), static_cast<double>(aux[1]),
                        static_cast<double>(aux[0]));
 #endif
diff --git a/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/arch/NEON/Complex.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/arch/NEON/Complex.h
index f3f6a1a1b0..b8655c80d4 100644
--- a/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/arch/NEON/Complex.h
+++ b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/arch/NEON/Complex.h
@@ -48,7 +48,7 @@ struct Packet2cf {
 };
 
 template <>
-struct packet_traits<std::complex<float> > : default_packet_traits {
+struct packet_traits<std::complex<float>> : default_packet_traits {
   typedef Packet2cf type;
   typedef Packet1cf half;
   enum {
@@ -280,13 +280,13 @@ EIGEN_STRONG_INLINE Packet2cf pandnot<Packet2cf>(const Packet2cf& a, const Packe
 
 template <>
 EIGEN_STRONG_INLINE Packet1cf pload<Packet1cf>(const std::complex<float>* from) {
-  EIGEN_ASSUME_ALIGNED(from, unpacket_traits<Packet1cf>::alignment);
-  EIGEN_DEBUG_ALIGNED_LOAD return Packet1cf(pload<Packet2f>((const float*)from));
+  EIGEN_DEBUG_ALIGNED_LOAD return Packet1cf(
+      pload<Packet2f>(assume_aligned<unpacket_traits<Packet1cf>::alignment>(reinterpret_cast<const float*>(from))));
 }
 template <>
 EIGEN_STRONG_INLINE Packet2cf pload<Packet2cf>(const std::complex<float>* from) {
-  EIGEN_ASSUME_ALIGNED(from, unpacket_traits<Packet2cf>::alignment);
-  EIGEN_DEBUG_ALIGNED_LOAD return Packet2cf(pload<Packet4f>(reinterpret_cast<const float*>(from)));
+  EIGEN_DEBUG_ALIGNED_LOAD return Packet2cf(
+      pload<Packet4f>(assume_aligned<unpacket_traits<Packet2cf>::alignment>(reinterpret_cast<const float*>(from))));
 }
 
 template <>
@@ -308,22 +308,22 @@ EIGEN_STRONG_INLINE Packet2cf ploaddup<Packet2cf>(const std::complex<float>* fro
 }
 
 template <>
-EIGEN_STRONG_INLINE void pstore<std::complex<float> >(std::complex<float>* to, const Packet1cf& from) {
-  EIGEN_ASSUME_ALIGNED(to, unpacket_traits<Packet1cf>::alignment);
-  EIGEN_DEBUG_ALIGNED_STORE pstore((float*)to, from.v);
+EIGEN_STRONG_INLINE void pstore<std::complex<float>>(std::complex<float>* to, const Packet1cf& from) {
+  EIGEN_DEBUG_ALIGNED_STORE pstore(assume_aligned<unpacket_traits<Packet1cf>::alignment>(reinterpret_cast<float*>(to)),
+                                   from.v);
 }
 template <>
-EIGEN_STRONG_INLINE void pstore<std::complex<float> >(std::complex<float>* to, const Packet2cf& from) {
-  EIGEN_ASSUME_ALIGNED(to, unpacket_traits<Packet2cf>::alignment);
-  EIGEN_DEBUG_ALIGNED_STORE pstore(reinterpret_cast<float*>(to), from.v);
+EIGEN_STRONG_INLINE void pstore<std::complex<float>>(std::complex<float>* to, const Packet2cf& from) {
+  EIGEN_DEBUG_ALIGNED_STORE pstore(assume_aligned<unpacket_traits<Packet2cf>::alignment>(reinterpret_cast<float*>(to)),
+                                   from.v);
 }
 
 template <>
-EIGEN_STRONG_INLINE void pstoreu<std::complex<float> >(std::complex<float>* to, const Packet1cf& from) {
+EIGEN_STRONG_INLINE void pstoreu<std::complex<float>>(std::complex<float>* to, const Packet1cf& from) {
   EIGEN_DEBUG_UNALIGNED_STORE pstoreu((float*)to, from.v);
 }
 template <>
-EIGEN_STRONG_INLINE void pstoreu<std::complex<float> >(std::complex<float>* to, const Packet2cf& from) {
+EIGEN_STRONG_INLINE void pstoreu<std::complex<float>>(std::complex<float>* to, const Packet2cf& from) {
   EIGEN_DEBUG_UNALIGNED_STORE pstoreu(reinterpret_cast<float*>(to), from.v);
 }
 
@@ -356,7 +356,7 @@ EIGEN_DEVICE_FUNC inline void pscatter<std::complex<float>, Packet2cf>(std::comp
 }
 
 template <>
-EIGEN_STRONG_INLINE void prefetch<std::complex<float> >(const std::complex<float>* addr) {
+EIGEN_STRONG_INLINE void prefetch<std::complex<float>>(const std::complex<float>* addr) {
   EIGEN_ARM_PREFETCH(reinterpret_cast<const float*>(addr));
 }
 
@@ -501,7 +501,7 @@ struct Packet1cd {
 };
 
 template <>
-struct packet_traits<std::complex<double> > : default_packet_traits {
+struct packet_traits<std::complex<double>> : default_packet_traits {
   typedef Packet1cd type;
   typedef Packet1cd half;
   enum {
@@ -531,8 +531,8 @@ struct unpacket_traits<Packet1cd> : neon_unpacket_default<Packet1cd, std::comple
 
 template <>
 EIGEN_STRONG_INLINE Packet1cd pload<Packet1cd>(const std::complex<double>* from) {
-  EIGEN_ASSUME_ALIGNED(from, unpacket_traits<Packet1cd>::alignment);
-  EIGEN_DEBUG_ALIGNED_LOAD return Packet1cd(pload<Packet2d>(reinterpret_cast<const double*>(from)));
+  EIGEN_DEBUG_ALIGNED_LOAD return Packet1cd(
+      pload<Packet2d>(assume_aligned<unpacket_traits<Packet1cd>::alignment>(reinterpret_cast<const double*>(from))));
 }
 
 template <>
@@ -644,18 +644,18 @@ EIGEN_STRONG_INLINE Packet1cd ploaddup<Packet1cd>(const std::complex<double>* fr
 }
 
 template <>
-EIGEN_STRONG_INLINE void pstore<std::complex<double> >(std::complex<double>* to, const Packet1cd& from) {
-  EIGEN_ASSUME_ALIGNED(to, unpacket_traits<Packet1cd>::alignment);
-  EIGEN_DEBUG_ALIGNED_STORE pstore(reinterpret_cast<double*>(to), from.v);
+EIGEN_STRONG_INLINE void pstore<std::complex<double>>(std::complex<double>* to, const Packet1cd& from) {
+  EIGEN_DEBUG_ALIGNED_STORE pstore(assume_aligned<unpacket_traits<Packet1cd>::alignment>(reinterpret_cast<double*>(to)),
+                                   from.v);
 }
 
 template <>
-EIGEN_STRONG_INLINE void pstoreu<std::complex<double> >(std::complex<double>* to, const Packet1cd& from) {
+EIGEN_STRONG_INLINE void pstoreu<std::complex<double>>(std::complex<double>* to, const Packet1cd& from) {
   EIGEN_DEBUG_UNALIGNED_STORE pstoreu(reinterpret_cast<double*>(to), from.v);
 }
 
 template <>
-EIGEN_STRONG_INLINE void prefetch<std::complex<double> >(const std::complex<double>* addr) {
+EIGEN_STRONG_INLINE void prefetch<std::complex<double>>(const std::complex<double>* addr) {
   EIGEN_ARM_PREFETCH(reinterpret_cast<const double*>(addr));
 }
 
@@ -677,7 +677,7 @@ EIGEN_DEVICE_FUNC inline void pscatter<std::complex<double>, Packet1cd>(std::com
 template <>
 EIGEN_STRONG_INLINE std::complex<double> pfirst<Packet1cd>(const Packet1cd& a) {
   EIGEN_ALIGN16 std::complex<double> res;
-  pstore<std::complex<double> >(&res, a);
+  pstore<std::complex<double>>(&res, a);
   return res;
 }
 
diff --git a/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/arch/NEON/PacketMath.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/arch/NEON/PacketMath.h
index bea50a3ef0..a66af83c92 100644
--- a/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/arch/NEON/PacketMath.h
+++ b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/arch/NEON/PacketMath.h
@@ -2268,13 +2268,11 @@ EIGEN_STRONG_INLINE Packet2ul plogical_shift_left(Packet2ul a) {
 
 template <>
 EIGEN_STRONG_INLINE Packet2f pload<Packet2f>(const float* from) {
-  EIGEN_ASSUME_ALIGNED(from, unpacket_traits<Packet2f>::alignment);
-  EIGEN_DEBUG_ALIGNED_LOAD return vld1_f32(from);
+  EIGEN_DEBUG_ALIGNED_LOAD return vld1_f32(assume_aligned<unpacket_traits<Packet2f>::alignment>(from));
 }
 template <>
 EIGEN_STRONG_INLINE Packet4f pload<Packet4f>(const float* from) {
-  EIGEN_ASSUME_ALIGNED(from, unpacket_traits<Packet4f>::alignment);
-  EIGEN_DEBUG_ALIGNED_LOAD return vld1q_f32(from);
+  EIGEN_DEBUG_ALIGNED_LOAD return vld1q_f32(assume_aligned<unpacket_traits<Packet4f>::alignment>(from));
 }
 template <>
 EIGEN_STRONG_INLINE Packet4c pload<Packet4c>(const int8_t* from) {
@@ -2284,13 +2282,11 @@ EIGEN_STRONG_INLINE Packet4c pload<Packet4c>(const int8_t* from) {
 }
 template <>
 EIGEN_STRONG_INLINE Packet8c pload<Packet8c>(const int8_t* from) {
-  EIGEN_ASSUME_ALIGNED(from, unpacket_traits<Packet8c>::alignment);
-  EIGEN_DEBUG_ALIGNED_LOAD return vld1_s8(from);
+  EIGEN_DEBUG_ALIGNED_LOAD return vld1_s8(assume_aligned<unpacket_traits<Packet8c>::alignment>(from));
 }
 template <>
 EIGEN_STRONG_INLINE Packet16c pload<Packet16c>(const int8_t* from) {
-  EIGEN_ASSUME_ALIGNED(from, unpacket_traits<Packet16c>::alignment);
-  EIGEN_DEBUG_ALIGNED_LOAD return vld1q_s8(from);
+  EIGEN_DEBUG_ALIGNED_LOAD return vld1q_s8(assume_aligned<unpacket_traits<Packet16c>::alignment>(from));
 }
 template <>
 EIGEN_STRONG_INLINE Packet4uc pload<Packet4uc>(const uint8_t* from) {
@@ -2300,63 +2296,51 @@ EIGEN_STRONG_INLINE Packet4uc pload<Packet4uc>(const uint8_t* from) {
 }
 template <>
 EIGEN_STRONG_INLINE Packet8uc pload<Packet8uc>(const uint8_t* from) {
-  EIGEN_ASSUME_ALIGNED(from, unpacket_traits<Packet8uc>::alignment);
-  EIGEN_DEBUG_ALIGNED_LOAD return vld1_u8(from);
+  EIGEN_DEBUG_ALIGNED_LOAD return vld1_u8(assume_aligned<unpacket_traits<Packet8uc>::alignment>(from));
 }
 template <>
 EIGEN_STRONG_INLINE Packet16uc pload<Packet16uc>(const uint8_t* from) {
-  EIGEN_ASSUME_ALIGNED(from, unpacket_traits<Packet16uc>::alignment);
-  EIGEN_DEBUG_ALIGNED_LOAD return vld1q_u8(from);
+  EIGEN_DEBUG_ALIGNED_LOAD return vld1q_u8(assume_aligned<unpacket_traits<Packet16uc>::alignment>(from));
 }
 template <>
 EIGEN_STRONG_INLINE Packet4s pload<Packet4s>(const int16_t* from) {
-  EIGEN_ASSUME_ALIGNED(from, unpacket_traits<Packet4s>::alignment);
-  EIGEN_DEBUG_ALIGNED_LOAD return vld1_s16(from);
+  EIGEN_DEBUG_ALIGNED_LOAD return vld1_s16(assume_aligned<unpacket_traits<Packet4s>::alignment>(from));
 }
 template <>
 EIGEN_STRONG_INLINE Packet8s pload<Packet8s>(const int16_t* from) {
-  EIGEN_ASSUME_ALIGNED(from, unpacket_traits<Packet8s>::alignment);
-  EIGEN_DEBUG_ALIGNED_LOAD return vld1q_s16(from);
+  EIGEN_DEBUG_ALIGNED_LOAD return vld1q_s16(assume_aligned<unpacket_traits<Packet8s>::alignment>(from));
 }
 template <>
 EIGEN_STRONG_INLINE Packet4us pload<Packet4us>(const uint16_t* from) {
-  EIGEN_ASSUME_ALIGNED(from, unpacket_traits<Packet4us>::alignment);
-  EIGEN_DEBUG_ALIGNED_LOAD return vld1_u16(from);
+  EIGEN_DEBUG_ALIGNED_LOAD return vld1_u16(assume_aligned<unpacket_traits<Packet4us>::alignment>(from));
 }
 template <>
 EIGEN_STRONG_INLINE Packet8us pload<Packet8us>(const uint16_t* from) {
-  EIGEN_ASSUME_ALIGNED(from, unpacket_traits<Packet8us>::alignment);
-  EIGEN_DEBUG_ALIGNED_LOAD return vld1q_u16(from);
+  EIGEN_DEBUG_ALIGNED_LOAD return vld1q_u16(assume_aligned<unpacket_traits<Packet8us>::alignment>(from));
 }
 template <>
 EIGEN_STRONG_INLINE Packet2i pload<Packet2i>(const int32_t* from) {
-  EIGEN_ASSUME_ALIGNED(from, unpacket_traits<Packet2i>::alignment);
-  EIGEN_DEBUG_ALIGNED_LOAD return vld1_s32(from);
+  EIGEN_DEBUG_ALIGNED_LOAD return vld1_s32(assume_aligned<unpacket_traits<Packet2i>::alignment>(from));
 }
 template <>
 EIGEN_STRONG_INLINE Packet4i pload<Packet4i>(const int32_t* from) {
-  EIGEN_ASSUME_ALIGNED(from, unpacket_traits<Packet4i>::alignment);
-  EIGEN_DEBUG_ALIGNED_LOAD return vld1q_s32(from);
+  EIGEN_DEBUG_ALIGNED_LOAD return vld1q_s32(assume_aligned<unpacket_traits<Packet4i>::alignment>(from));
 }
 template <>
 EIGEN_STRONG_INLINE Packet2ui pload<Packet2ui>(const uint32_t* from) {
-  EIGEN_ASSUME_ALIGNED(from, unpacket_traits<Packet2ui>::alignment);
-  EIGEN_DEBUG_ALIGNED_LOAD return vld1_u32(from);
+  EIGEN_DEBUG_ALIGNED_LOAD return vld1_u32(assume_aligned<unpacket_traits<Packet2ui>::alignment>(from));
 }
 template <>
 EIGEN_STRONG_INLINE Packet4ui pload<Packet4ui>(const uint32_t* from) {
-  EIGEN_ASSUME_ALIGNED(from, unpacket_traits<Packet4ui>::alignment);
-  EIGEN_DEBUG_ALIGNED_LOAD return vld1q_u32(from);
+  EIGEN_DEBUG_ALIGNED_LOAD return vld1q_u32(assume_aligned<unpacket_traits<Packet4ui>::alignment>(from));
 }
 template <>
 EIGEN_STRONG_INLINE Packet2l pload<Packet2l>(const int64_t* from) {
-  EIGEN_ASSUME_ALIGNED(from, unpacket_traits<Packet2l>::alignment);
-  EIGEN_DEBUG_ALIGNED_LOAD return vld1q_s64(from);
+  EIGEN_DEBUG_ALIGNED_LOAD return vld1q_s64(assume_aligned<unpacket_traits<Packet2l>::alignment>(from));
 }
 template <>
 EIGEN_STRONG_INLINE Packet2ul pload<Packet2ul>(const uint64_t* from) {
-  EIGEN_ASSUME_ALIGNED(from, unpacket_traits<Packet2ul>::alignment);
-  EIGEN_DEBUG_ALIGNED_LOAD return vld1q_u64(from);
+  EIGEN_DEBUG_ALIGNED_LOAD return vld1q_u64(assume_aligned<unpacket_traits<Packet2ul>::alignment>(from));
 }
 
 template <>
@@ -2580,13 +2564,11 @@ EIGEN_STRONG_INLINE Packet4ui ploadquad<Packet4ui>(const uint32_t* from) {
 
 template <>
 EIGEN_STRONG_INLINE void pstore<float>(float* to, const Packet2f& from) {
-  EIGEN_ASSUME_ALIGNED(to, unpacket_traits<Packet2f>::alignment);
-  EIGEN_DEBUG_ALIGNED_STORE vst1_f32(to, from);
+  EIGEN_DEBUG_ALIGNED_STORE vst1_f32(assume_aligned<unpacket_traits<Packet2f>::alignment>(to), from);
 }
 template <>
 EIGEN_STRONG_INLINE void pstore<float>(float* to, const Packet4f& from) {
-  EIGEN_ASSUME_ALIGNED(to, unpacket_traits<Packet4f>::alignment);
-  EIGEN_DEBUG_ALIGNED_STORE vst1q_f32(to, from);
+  EIGEN_DEBUG_ALIGNED_STORE vst1q_f32(assume_aligned<unpacket_traits<Packet4f>::alignment>(to), from);
 }
 template <>
 EIGEN_STRONG_INLINE void pstore<int8_t>(int8_t* to, const Packet4c& from) {
@@ -2594,13 +2576,11 @@ EIGEN_STRONG_INLINE void pstore<int8_t>(int8_t* to, const Packet4c& from) {
 }
 template <>
 EIGEN_STRONG_INLINE void pstore<int8_t>(int8_t* to, const Packet8c& from) {
-  EIGEN_ASSUME_ALIGNED(to, unpacket_traits<Packet8c>::alignment);
-  EIGEN_DEBUG_ALIGNED_STORE vst1_s8(to, from);
+  EIGEN_DEBUG_ALIGNED_STORE vst1_s8(assume_aligned<unpacket_traits<Packet8c>::alignment>(to), from);
 }
 template <>
 EIGEN_STRONG_INLINE void pstore<int8_t>(int8_t* to, const Packet16c& from) {
-  EIGEN_ASSUME_ALIGNED(to, unpacket_traits<Packet16c>::alignment);
-  EIGEN_DEBUG_ALIGNED_STORE vst1q_s8(to, from);
+  EIGEN_DEBUG_ALIGNED_STORE vst1q_s8(assume_aligned<unpacket_traits<Packet16c>::alignment>(to), from);
 }
 template <>
 EIGEN_STRONG_INLINE void pstore<uint8_t>(uint8_t* to, const Packet4uc& from) {
@@ -2608,63 +2588,51 @@ EIGEN_STRONG_INLINE void pstore<uint8_t>(uint8_t* to, const Packet4uc& from) {
 }
 template <>
 EIGEN_STRONG_INLINE void pstore<uint8_t>(uint8_t* to, const Packet8uc& from) {
-  EIGEN_ASSUME_ALIGNED(to, unpacket_traits<Packet8uc>::alignment);
-  EIGEN_DEBUG_ALIGNED_STORE vst1_u8(to, from);
+  EIGEN_DEBUG_ALIGNED_STORE vst1_u8(assume_aligned<unpacket_traits<Packet8uc>::alignment>(to), from);
 }
 template <>
 EIGEN_STRONG_INLINE void pstore<uint8_t>(uint8_t* to, const Packet16uc& from) {
-  EIGEN_ASSUME_ALIGNED(to, unpacket_traits<Packet16uc>::alignment);
-  EIGEN_DEBUG_ALIGNED_STORE vst1q_u8(to, from);
+  EIGEN_DEBUG_ALIGNED_STORE vst1q_u8(assume_aligned<unpacket_traits<Packet16uc>::alignment>(to), from);
 }
 template <>
 EIGEN_STRONG_INLINE void pstore<int16_t>(int16_t* to, const Packet4s& from) {
-  EIGEN_ASSUME_ALIGNED(to, unpacket_traits<Packet4s>::alignment);
-  EIGEN_DEBUG_ALIGNED_STORE vst1_s16(to, from);
+  EIGEN_DEBUG_ALIGNED_STORE vst1_s16(assume_aligned<unpacket_traits<Packet4s>::alignment>(to), from);
 }
 template <>
 EIGEN_STRONG_INLINE void pstore<int16_t>(int16_t* to, const Packet8s& from) {
-  EIGEN_ASSUME_ALIGNED(to, unpacket_traits<Packet8s>::alignment);
-  EIGEN_DEBUG_ALIGNED_STORE vst1q_s16(to, from);
+  EIGEN_DEBUG_ALIGNED_STORE vst1q_s16(assume_aligned<unpacket_traits<Packet8s>::alignment>(to), from);
 }
 template <>
 EIGEN_STRONG_INLINE void pstore<uint16_t>(uint16_t* to, const Packet4us& from) {
-  EIGEN_ASSUME_ALIGNED(to, unpacket_traits<Packet4us>::alignment);
-  EIGEN_DEBUG_ALIGNED_STORE vst1_u16(to, from);
+  EIGEN_DEBUG_ALIGNED_STORE vst1_u16(assume_aligned<unpacket_traits<Packet4us>::alignment>(to), from);
 }
 template <>
 EIGEN_STRONG_INLINE void pstore<uint16_t>(uint16_t* to, const Packet8us& from) {
-  EIGEN_ASSUME_ALIGNED(to, unpacket_traits<Packet8us>::alignment);
-  EIGEN_DEBUG_ALIGNED_STORE vst1q_u16(to, from);
+  EIGEN_DEBUG_ALIGNED_STORE vst1q_u16(assume_aligned<unpacket_traits<Packet8us>::alignment>(to), from);
 }
 template <>
 EIGEN_STRONG_INLINE void pstore<int32_t>(int32_t* to, const Packet2i& from) {
-  EIGEN_ASSUME_ALIGNED(to, unpacket_traits<Packet2i>::alignment);
-  EIGEN_DEBUG_ALIGNED_STORE vst1_s32(to, from);
+  EIGEN_DEBUG_ALIGNED_STORE vst1_s32(assume_aligned<unpacket_traits<Packet2i>::alignment>(to), from);
 }
 template <>
 EIGEN_STRONG_INLINE void pstore<int32_t>(int32_t* to, const Packet4i& from) {
-  EIGEN_ASSUME_ALIGNED(to, unpacket_traits<Packet4i>::alignment);
-  EIGEN_DEBUG_ALIGNED_STORE vst1q_s32(to, from);
+  EIGEN_DEBUG_ALIGNED_STORE vst1q_s32(assume_aligned<unpacket_traits<Packet4i>::alignment>(to), from);
 }
 template <>
 EIGEN_STRONG_INLINE void pstore<uint32_t>(uint32_t* to, const Packet2ui& from) {
-  EIGEN_ASSUME_ALIGNED(to, unpacket_traits<Packet2ui>::alignment);
-  EIGEN_DEBUG_ALIGNED_STORE vst1_u32(to, from);
+  EIGEN_DEBUG_ALIGNED_STORE vst1_u32(assume_aligned<unpacket_traits<Packet2ui>::alignment>(to), from);
 }
 template <>
 EIGEN_STRONG_INLINE void pstore<uint32_t>(uint32_t* to, const Packet4ui& from) {
-  EIGEN_ASSUME_ALIGNED(to, unpacket_traits<Packet4ui>::alignment);
-  EIGEN_DEBUG_ALIGNED_STORE vst1q_u32(to, from);
+  EIGEN_DEBUG_ALIGNED_STORE vst1q_u32(assume_aligned<unpacket_traits<Packet4ui>::alignment>(to), from);
 }
 template <>
 EIGEN_STRONG_INLINE void pstore<int64_t>(int64_t* to, const Packet2l& from) {
-  EIGEN_ASSUME_ALIGNED(to, unpacket_traits<Packet2l>::alignment);
-  EIGEN_DEBUG_ALIGNED_STORE vst1q_s64(to, from);
+  EIGEN_DEBUG_ALIGNED_STORE vst1q_s64(assume_aligned<unpacket_traits<Packet2l>::alignment>(to), from);
 }
 template <>
 EIGEN_STRONG_INLINE void pstore<uint64_t>(uint64_t* to, const Packet2ul& from) {
-  EIGEN_ASSUME_ALIGNED(to, unpacket_traits<Packet2ul>::alignment);
-  EIGEN_DEBUG_ALIGNED_STORE vst1q_u64(to, from);
+  EIGEN_DEBUG_ALIGNED_STORE vst1q_u64(assume_aligned<unpacket_traits<Packet2ul>::alignment>(to), from);
 }
 
 template <>
@@ -4739,8 +4707,8 @@ EIGEN_STRONG_INLINE bfloat16 pfirst<Packet4bf>(const Packet4bf& from) {
 
 template <>
 EIGEN_STRONG_INLINE Packet4bf pload<Packet4bf>(const bfloat16* from) {
-  EIGEN_ASSUME_ALIGNED(from, unpacket_traits<Packet4bf>::alignment);
-  return Packet4bf(pload<Packet4us>(reinterpret_cast<const uint16_t*>(from)));
+  return Packet4bf(
+      pload<Packet4us>(reinterpret_cast<const uint16_t*>(assume_aligned<unpacket_traits<Packet4bf>::alignment>(from))));
 }
 
 template <>
@@ -4750,8 +4718,8 @@ EIGEN_STRONG_INLINE Packet4bf ploadu<Packet4bf>(const bfloat16* from) {
 
 template <>
 EIGEN_STRONG_INLINE void pstore<bfloat16>(bfloat16* to, const Packet4bf& from) {
-  EIGEN_ASSUME_ALIGNED(to, unpacket_traits<Packet4bf>::alignment);
-  EIGEN_DEBUG_ALIGNED_STORE vst1_u16(reinterpret_cast<uint16_t*>(to), from);
+  EIGEN_DEBUG_ALIGNED_STORE vst1_u16(
+      reinterpret_cast<uint16_t*>(assume_aligned<unpacket_traits<Packet4bf>::alignment>(to)), from);
 }
 
 template <>
@@ -5240,8 +5208,7 @@ EIGEN_STRONG_INLINE Packet2d pcmp_eq(const Packet2d& a, const Packet2d& b) {
 
 template <>
 EIGEN_STRONG_INLINE Packet2d pload<Packet2d>(const double* from) {
-  EIGEN_ASSUME_ALIGNED(from, unpacket_traits<Packet2d>::alignment);
-  EIGEN_DEBUG_ALIGNED_LOAD return vld1q_f64(from);
+  EIGEN_DEBUG_ALIGNED_LOAD return vld1q_f64(assume_aligned<unpacket_traits<Packet2d>::alignment>(from));
 }
 
 template <>
@@ -5255,8 +5222,7 @@ EIGEN_STRONG_INLINE Packet2d ploaddup<Packet2d>(const double* from) {
 }
 template <>
 EIGEN_STRONG_INLINE void pstore<double>(double* to, const Packet2d& from) {
-  EIGEN_ASSUME_ALIGNED(to, unpacket_traits<Packet2d>::alignment);
-  EIGEN_DEBUG_ALIGNED_STORE vst1q_f64(to, from);
+  EIGEN_DEBUG_ALIGNED_STORE vst1q_f64(assume_aligned<unpacket_traits<Packet2d>::alignment>(to), from);
 }
 
 template <>
@@ -5784,14 +5750,14 @@ EIGEN_STRONG_INLINE Packet4hf pandnot<Packet4hf>(const Packet4hf& a, const Packe
 
 template <>
 EIGEN_STRONG_INLINE Packet8hf pload<Packet8hf>(const Eigen::half* from) {
-  EIGEN_ASSUME_ALIGNED(from, unpacket_traits<Packet8hf>::alignment);
-  EIGEN_DEBUG_ALIGNED_LOAD return vld1q_f16(reinterpret_cast<const float16_t*>(from));
+  EIGEN_DEBUG_ALIGNED_LOAD return vld1q_f16(
+      reinterpret_cast<const float16_t*>(assume_aligned<unpacket_traits<Packet8hf>::alignment>(from)));
 }
 
 template <>
 EIGEN_STRONG_INLINE Packet4hf pload<Packet4hf>(const Eigen::half* from) {
-  EIGEN_ASSUME_ALIGNED(from, unpacket_traits<Packet4hf>::alignment);
-  EIGEN_DEBUG_ALIGNED_LOAD return vld1_f16(reinterpret_cast<const float16_t*>(from));
+  EIGEN_DEBUG_ALIGNED_LOAD return vld1_f16(
+      reinterpret_cast<const float16_t*>(assume_aligned<unpacket_traits<Packet4hf>::alignment>(from)));
 }
 
 template <>
@@ -5866,14 +5832,14 @@ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet4hf pinsertlast(const Packet4hf& a,
 
 template <>
 EIGEN_STRONG_INLINE void pstore<Eigen::half>(Eigen::half* to, const Packet8hf& from) {
-  EIGEN_ASSUME_ALIGNED(to, unpacket_traits<Packet8hf>::alignment);
-  EIGEN_DEBUG_ALIGNED_STORE vst1q_f16(reinterpret_cast<float16_t*>(to), from);
+  EIGEN_DEBUG_ALIGNED_STORE vst1q_f16(
+      reinterpret_cast<float16_t*>(assume_aligned<unpacket_traits<Packet8hf>::alignment>(to)), from);
 }
 
 template <>
 EIGEN_STRONG_INLINE void pstore<Eigen::half>(Eigen::half* to, const Packet4hf& from) {
-  EIGEN_ASSUME_ALIGNED(to, unpacket_traits<Packet4hf>::alignment);
-  EIGEN_DEBUG_ALIGNED_STORE vst1_f16(reinterpret_cast<float16_t*>(to), from);
+  EIGEN_DEBUG_ALIGNED_STORE vst1_f16(
+      reinterpret_cast<float16_t*>(assume_aligned<unpacket_traits<Packet4hf>::alignment>(to)), from);
 }
 
 template <>
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 e0119dd760..a5e4902c32 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
@@ -1679,9 +1679,9 @@ EIGEN_STRONG_INLINE Packet16b pgather<bool, Packet16b>(const bool* from, Index s
 template <>
 EIGEN_STRONG_INLINE void pscatter<float, Packet4f>(float* to, const Packet4f& from, Index stride) {
   to[stride * 0] = pfirst(from);
-  to[stride * 1] = pfirst(_mm_shuffle_ps(from, from, 1));
-  to[stride * 2] = pfirst(_mm_shuffle_ps(from, from, 2));
-  to[stride * 3] = pfirst(_mm_shuffle_ps(from, from, 3));
+  to[stride * 1] = pfirst(Packet4f(_mm_shuffle_ps(from, from, 1)));
+  to[stride * 2] = pfirst(Packet4f(_mm_shuffle_ps(from, from, 2)));
+  to[stride * 3] = pfirst(Packet4f(_mm_shuffle_ps(from, from, 3)));
 }
 template <>
 EIGEN_STRONG_INLINE void pscatter<double, Packet2d>(double* to, const Packet2d& from, Index stride) {
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 db4a63089b..dad3671690 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
@@ -52,6 +52,26 @@
 #define EIGEN_STACK_ALLOCATION_LIMIT 131072
 #endif
 
+/* Specify whether to use std::fma for scalar multiply-add instructions.
+ *
+ * On machines that have FMA as a single instruction, this will generally
+ * improve precision without significant performance implications.
+ *
+ * Without a single instruction, performance has been found to be reduced 2-3x
+ * on Intel CPUs, and up to 30x for WASM.
+ *
+ * If unspecified, defaults to using FMA if hardware support is available.
+ * The default should be used in most cases to ensure consistency between
+ * vectorized and non-vectorized paths.
+ */
+#ifndef EIGEN_SCALAR_MADD_USE_FMA
+#ifdef EIGEN_VECTORIZE_FMA
+#define EIGEN_SCALAR_MADD_USE_FMA 1
+#else
+#define EIGEN_SCALAR_MADD_USE_FMA 0
+#endif
+#endif
+
 //------------------------------------------------------------------------------------------
 // Compiler identification, EIGEN_COMP_*
 //------------------------------------------------------------------------------------------
diff --git a/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/util/Memory.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/util/Memory.h
index d6c09a392a..1492f72c90 100644
--- a/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/util/Memory.h
+++ b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/util/Memory.h
@@ -91,6 +91,9 @@ namespace internal {
 EIGEN_DEVICE_FUNC inline void check_that_malloc_is_allowed() {
   eigen_assert(false && "heap allocation is forbidden (EIGEN_NO_MALLOC is defined)");
 }
+EIGEN_DEVICE_FUNC inline void check_that_free_is_allowed() {
+  eigen_assert(false && "heap deallocation is forbidden (EIGEN_NO_MALLOC is defined)");
+}
 #elif defined EIGEN_RUNTIME_NO_MALLOC
 EIGEN_DEVICE_FUNC inline bool is_malloc_allowed_impl(bool update, bool new_value = false) {
   EIGEN_MALLOC_CHECK_THREAD_LOCAL static bool value = true;
@@ -101,10 +104,22 @@ EIGEN_DEVICE_FUNC inline bool is_malloc_allowed() { return is_malloc_allowed_imp
 EIGEN_DEVICE_FUNC inline bool set_is_malloc_allowed(bool new_value) { return is_malloc_allowed_impl(true, new_value); }
 EIGEN_DEVICE_FUNC inline void check_that_malloc_is_allowed() {
   eigen_assert(is_malloc_allowed() &&
-               "heap allocation is forbidden (EIGEN_RUNTIME_NO_MALLOC is defined and g_is_malloc_allowed is false)");
+               "heap allocation is forbidden (EIGEN_RUNTIME_NO_MALLOC is defined and set_is_malloc_allowed is false)");
+}
+EIGEN_DEVICE_FUNC inline bool is_free_allowed_impl(bool update, bool new_value = false) {
+  EIGEN_MALLOC_CHECK_THREAD_LOCAL static bool value = true;
+  if (update == 1) value = new_value;
+  return value;
+}
+EIGEN_DEVICE_FUNC inline bool is_free_allowed() { return is_free_allowed_impl(false); }
+EIGEN_DEVICE_FUNC inline bool set_is_free_allowed(bool new_value) { return is_free_allowed_impl(true, new_value); }
+EIGEN_DEVICE_FUNC inline void check_that_free_is_allowed() {
+  eigen_assert(is_malloc_allowed() &&
+               "heap deallocation is forbidden (EIGEN_RUNTIME_NO_MALLOC is defined and set_is_free_allowed is false)");
 }
 #else
 EIGEN_DEVICE_FUNC inline void check_that_malloc_is_allowed() {}
+EIGEN_DEVICE_FUNC inline void check_that_free_is_allowed() {}
 #endif
 
 EIGEN_DEVICE_FUNC inline void throw_std_bad_alloc() {
@@ -161,7 +176,7 @@ EIGEN_DEVICE_FUNC inline void handmade_aligned_free(void* ptr) {
     std::size_t offset = static_cast<std::size_t>(*(static_cast<uint8_t*>(ptr) - 1)) + 1;
     void* original = static_cast<void*>(static_cast<uint8_t*>(ptr) - offset);
 
-    check_that_malloc_is_allowed();
+    check_that_free_is_allowed();
     EIGEN_USING_STD(free)
     free(original);
   }
@@ -227,7 +242,7 @@ EIGEN_DEVICE_FUNC inline void aligned_free(void* ptr) {
 #if (EIGEN_DEFAULT_ALIGN_BYTES == 0) || EIGEN_MALLOC_ALREADY_ALIGNED
 
   if (ptr != nullptr) {
-    check_that_malloc_is_allowed();
+    check_that_free_is_allowed();
     EIGEN_USING_STD(free)
     free(ptr);
   }
@@ -299,7 +314,7 @@ EIGEN_DEVICE_FUNC inline void conditional_aligned_free(void* ptr) {
 template <>
 EIGEN_DEVICE_FUNC inline void conditional_aligned_free<false>(void* ptr) {
   if (ptr != nullptr) {
-    check_that_malloc_is_allowed();
+    check_that_free_is_allowed();
     EIGEN_USING_STD(free)
     free(ptr);
   }
@@ -1339,19 +1354,28 @@ EIGEN_DEVICE_FUNC void destroy_at(T* p) {
 }
 #endif
 
-/** \internal
- * This informs the implementation that PTR is aligned to at least ALIGN_BYTES
- */
-#ifndef EIGEN_ASSUME_ALIGNED
-#if defined(__cpp_lib_assume_aligned) && (__cpp_lib_assume_aligned >= 201811L)
-#define EIGEN_ASSUME_ALIGNED(PTR, ALIGN_BYTES) \
-  { PTR = std::assume_aligned<8 * (ALIGN_BYTES)>(PTR); }
-#elif EIGEN_HAS_BUILTIN(__builtin_assume_aligned)
-#define EIGEN_ASSUME_ALIGNED(PTR, ALIGN_BYTES) \
-  { PTR = static_cast<decltype(PTR)>(__builtin_assume_aligned(PTR, (ALIGN_BYTES))); }
-#else
-#define EIGEN_ASSUME_ALIGNED(PTR, ALIGN_BYTES) /* do nothing */
+// FIXME(rmlarsen): Work around missing linker symbol with msan on ARM.
+#if !defined(EIGEN_DONT_ASSUME_ALIGNED) && __has_feature(memory_sanitizer) && \
+    (EIGEN_ARCH_ARM || EIGEN_ARCH_ARM64)
+#define EIGEN_DONT_ASSUME_ALIGNED
 #endif
+
+
+#if !defined(EIGEN_DONT_ASSUME_ALIGNED) && defined(__cpp_lib_assume_aligned) && (__cpp_lib_assume_aligned >= 201811L)
+template <std::size_t N, typename T>
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC constexpr T* assume_aligned(T* ptr) {
+  return std::assume_aligned<N, T>(ptr);
+}
+#elif !defined(EIGEN_DONT_ASSUME_ALIGNED) && EIGEN_HAS_BUILTIN(__builtin_assume_aligned)
+template <std::size_t N, typename T>
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC T* assume_aligned(T* ptr) {
+  return static_cast<T*>(__builtin_assume_aligned(ptr, N));
+}
+#else
+template <std::size_t N, typename T>
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC constexpr T* assume_aligned(T* ptr) {
+  return ptr;
+}
 #endif
 
 }  // end namespace internal
diff --git a/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Householder/Householder.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Householder/Householder.h
index 96b1daf5fa..e5d2d4fac0 100644
--- a/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Householder/Householder.h
+++ b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Householder/Householder.h
@@ -65,7 +65,6 @@ template <typename EssentialPart>
 EIGEN_DEVICE_FUNC void MatrixBase<Derived>::makeHouseholder(EssentialPart& essential, Scalar& tau,
                                                             RealScalar& beta) const {
   using numext::conj;
-  using numext::sqrt;
 
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(EssentialPart)
   VectorBlock<const Derived, EssentialPart::SizeAtCompileTime> tail(derived(), 1, size() - 1);
@@ -79,7 +78,7 @@ EIGEN_DEVICE_FUNC void MatrixBase<Derived>::makeHouseholder(EssentialPart& essen
     beta = numext::real(c0);
     essential.setZero();
   } else {
-    beta = sqrt(numext::abs2(c0) + tailSqNorm);
+    beta = numext::sqrt(numext::abs2(c0) + tailSqNorm);
     if (numext::real(c0) >= RealScalar(0)) beta = -beta;
     essential = tail / (c0 - beta);
     tau = conj((beta - c0) / beta);
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 da2f295930..dfcb6df5e1 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
@@ -571,6 +571,11 @@ class JacobiSVD : public SVDBase<JacobiSVD<MatrixType_, Options_> > {
     compute_impl(matrix, internal::get_computation_options(Options));
   }
 
+  template <typename Derived>
+  explicit JacobiSVD(const TriangularBase<Derived>& matrix) {
+    compute_impl(matrix, internal::get_computation_options(Options));
+  }
+
   /** \brief Constructor performing the decomposition of given matrix using specified options
    *         for computing unitaries.
    *
@@ -601,6 +606,11 @@ class JacobiSVD : public SVDBase<JacobiSVD<MatrixType_, Options_> > {
     return compute_impl(matrix, m_computationOptions);
   }
 
+  template <typename Derived>
+  JacobiSVD& compute(const TriangularBase<Derived>& matrix) {
+    return compute_impl(matrix, m_computationOptions);
+  }
+
   /** \brief Method performing the decomposition of given matrix, as specified by
    *         the `computationOptions` parameter.
    *
@@ -638,6 +648,8 @@ class JacobiSVD : public SVDBase<JacobiSVD<MatrixType_, Options_> > {
   }
 
  private:
+  template <typename Derived>
+  JacobiSVD& compute_impl(const TriangularBase<Derived>& matrix, unsigned int computationOptions);
   template <typename Derived>
   JacobiSVD& compute_impl(const MatrixBase<Derived>& matrix, unsigned int computationOptions);
 
@@ -676,6 +688,13 @@ class JacobiSVD : public SVDBase<JacobiSVD<MatrixType_, Options_> > {
   WorkMatrixType m_workMatrix;
 };
 
+template <typename MatrixType, int Options>
+template <typename Derived>
+JacobiSVD<MatrixType, Options>& JacobiSVD<MatrixType, Options>::compute_impl(const TriangularBase<Derived>& matrix,
+                                                                             unsigned int computationOptions) {
+  return compute_impl(matrix.toDenseMatrix(), computationOptions);
+}
+
 template <typename MatrixType, int Options>
 template <typename Derived>
 JacobiSVD<MatrixType, Options>& JacobiSVD<MatrixType, Options>::compute_impl(const MatrixBase<Derived>& matrix,
diff --git a/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/SparseCholesky/SimplicialCholesky.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/SparseCholesky/SimplicialCholesky.h
index d8e29447f0..14147945ae 100644
--- a/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/SparseCholesky/SimplicialCholesky.h
+++ b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/SparseCholesky/SimplicialCholesky.h
@@ -416,7 +416,8 @@ class SimplicialLLT : public SimplicialCholeskyBase<SimplicialLLT<MatrixType_, U
 
   /** Performs a numeric decomposition of \a matrix
    *
-   * The given matrix must has the same sparsity than the matrix on which the symbolic decomposition has been performed.
+   * The given matrix must have the same sparsity than the matrix on which the symbolic decomposition has been
+   * performed.
    *
    * \sa analyzePattern()
    */
@@ -504,7 +505,8 @@ class SimplicialLDLT : public SimplicialCholeskyBase<SimplicialLDLT<MatrixType_,
 
   /** Performs a numeric decomposition of \a matrix
    *
-   * The given matrix must has the same sparsity than the matrix on which the symbolic decomposition has been performed.
+   * The given matrix must have the same sparsity than the matrix on which the symbolic decomposition has been
+   * performed.
    *
    * \sa analyzePattern()
    */
@@ -585,7 +587,8 @@ class SimplicialNonHermitianLLT
 
   /** Performs a numeric decomposition of \a matrix
    *
-   * The given matrix must has the same sparsity than the matrix on which the symbolic decomposition has been performed.
+   * The given matrix must have the same sparsity than the matrix on which the symbolic decomposition has been
+   * performed.
    *
    * \sa analyzePattern()
    */
@@ -674,7 +677,8 @@ class SimplicialNonHermitianLDLT
 
   /** Performs a numeric decomposition of \a matrix
    *
-   * The given matrix must has the same sparsity than the matrix on which the symbolic decomposition has been performed.
+   * The given matrix must have the same sparsity than the matrix on which the symbolic decomposition has been
+   * performed.
    *
    * \sa analyzePattern()
    */
@@ -757,7 +761,8 @@ class SimplicialCholesky : public SimplicialCholeskyBase<SimplicialCholesky<Matr
 
   /** Performs a numeric decomposition of \a matrix
    *
-   * The given matrix must has the same sparsity than the matrix on which the symbolic decomposition has been performed.
+   * The given matrix must have the same sparsity than the matrix on which the symbolic decomposition has been
+   * performed.
    *
    * \sa analyzePattern()
    */
diff --git a/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/SparseCore/SparseCompressedBase.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/SparseCore/SparseCompressedBase.h
index c1682833d0..420e9fa3ca 100644
--- a/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/SparseCore/SparseCompressedBase.h
+++ b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/SparseCore/SparseCompressedBase.h
@@ -480,6 +480,7 @@ class CompressedStorageIterator {
     return *this;
   }
   inline reference operator*() const { return reference(m_data.keyPtr() + m_index, m_data.valuePtr() + m_index); }
+  inline reference operator[](int index) { return *(*this + index); }
 
 #define MAKE_COMP(OP) \
   inline bool operator OP(const CompressedStorageIterator& other) const { return m_index OP other.m_index; }
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 d19a00dd9f..c8d34e318d 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
@@ -140,7 +140,7 @@ class SparseVector : public SparseCompressedBase<SparseVector<Scalar_, Options_,
     return insertBack(inner);
   }
   inline Scalar& insertBack(Index i) {
-    m_data.append(0, i);
+    m_data.append(Scalar(0), i);
     return m_data.value(m_data.size() - 1);
   }
 
@@ -150,7 +150,7 @@ class SparseVector : public SparseCompressedBase<SparseVector<Scalar_, Options_,
     return insertBackUnordered(inner);
   }
   inline Scalar& insertBackUnordered(Index i) {
-    m_data.append(0, i);
+    m_data.append(Scalar(0), i);
     return m_data.value(m_data.size() - 1);
   }
 
@@ -177,7 +177,7 @@ class SparseVector : public SparseCompressedBase<SparseVector<Scalar_, Options_,
       --p;
     }
     m_data.index(p + 1) = convert_index(i);
-    m_data.value(p + 1) = 0;
+    m_data.value(p + 1) = Scalar(0);
     return m_data.value(p + 1);
   }
 
@@ -367,7 +367,7 @@ class SparseVector : public SparseCompressedBase<SparseVector<Scalar_, Options_,
 
   /** \internal \deprecated use insertBack(Index) */
   EIGEN_DEPRECATED_WITH_REASON("Use .insertBack() instead.") Scalar& fill(Index i) {
-    m_data.append(0, i);
+    m_data.append(Scalar(0), i);
     return m_data.value(m_data.size() - 1);
   }