diff --git a/.github/workflows/gradle.yml b/.github/workflows/gradle.yml
index fa13febb96..356c288bd6 100644
--- a/.github/workflows/gradle.yml
+++ b/.github/workflows/gradle.yml
@@ -16,11 +16,11 @@ jobs:
             artifact-name: Athena
             build-options: "-Ponlylinuxathena"
           - container: wpilib/raspbian-cross-ubuntu:10-20.04
-            artifact-name: Raspbian
-            build-options: "-Ponlylinuxraspbian"
+            artifact-name: Arm32
+            build-options: "-Ponlylinuxarm32"
           - container: wpilib/aarch64-cross-ubuntu:bionic-20.04
-            artifact-name: Aarch64
-            build-options: "-Ponlylinuxaarch64bionic"
+            artifact-name: Arm64
+            build-options: "-Ponlylinuxarm64"
           - container: wpilib/ubuntu-base:20.04
             artifact-name: Linux
             build-options: "-Ponlylinuxx86-64"
@@ -64,7 +64,7 @@ jobs:
           - os: macOS-11
             artifact-name: macOS
             architecture: x64
-            build-options: ""
+            build-options: "-Pbuildalldesktop"
             task: "build"
     name: "Build - ${{ matrix.artifact-name }}"
     runs-on: ${{ matrix.os }}
@@ -100,7 +100,7 @@ jobs:
           ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
           ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
       - name: Sign Libraries with Developer ID
-        run: ./gradlew build -PbuildServer -PskipJavaFormat -PdeveloperID=${{ secrets.APPLE_DEVELOPER_ID }} ${{ env.EXTRA_GRADLE_ARGS }}
+        run: ./gradlew build -PbuildServer -PskipJavaFormat -PdeveloperID=${{ secrets.APPLE_DEVELOPER_ID }} ${{ matrix.build-options }} ${{ env.EXTRA_GRADLE_ARGS }}
         if: |
           matrix.artifact-name == 'macOS' && (github.repository_owner == 'wpilibsuite' &&
           (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v')))
diff --git a/README.md b/README.md
index a1d82ff293..9f7a7d8c22 100644
--- a/README.md
+++ b/README.md
@@ -54,7 +54,7 @@ Using Gradle makes building WPILib very straightforward. It only has a few depen
     - Run `./gradlew installRoboRioToolchain` after cloning this repository
     - If the WPILib installer was used, this toolchain is already installed
 - Raspberry Pi toolchain (optional)
-    - Run `./gradlew installRaspbianToolchain` after cloning this repository
+    - Run `./gradlew installArm32Toolchain` after cloning this repository
 
 ## Setup
 
diff --git a/build.gradle b/build.gradle
index 2edfeeca11..620a13b9af 100644
--- a/build.gradle
+++ b/build.gradle
@@ -156,5 +156,5 @@ ext.getCurrentArch = {
 }
 
 wrapper {
-    gradleVersion = '7.3.3'
+    gradleVersion = '7.5-rc-2'
 }
diff --git a/buildSrc/build.gradle b/buildSrc/build.gradle
index 41d42c93ca..b90fc771d8 100644
--- a/buildSrc/build.gradle
+++ b/buildSrc/build.gradle
@@ -5,5 +5,5 @@ repositories {
     }
 }
 dependencies {
-    implementation "edu.wpi.first:native-utils:2023.0.2"
+    implementation "edu.wpi.first:native-utils:2023.0.7"
 }
diff --git a/cscore/build.gradle b/cscore/build.gradle
index 974adcad07..c1a7243164 100644
--- a/cscore/build.gradle
+++ b/cscore/build.gradle
@@ -23,8 +23,8 @@ model {
             enableCheckTask true
             javaCompileTasks << compileJava
             jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.roborio)
-            jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.raspbian)
-            jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.aarch64bionic)
+            jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.linuxarm32)
+            jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.linuxarm64)
 
             sources {
                 cpp {
@@ -180,7 +180,7 @@ model {
     components {
         examplesMap.each { key, value ->
             if (key == "usbviewer") {
-                if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxraspbian') && !project.hasProperty('onlylinuxaarch64bionic')) {
+                if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxarm32') && !project.hasProperty('onlylinuxarm64')) {
                     "${key}"(NativeExecutableSpec) {
                         targetBuildTypes 'debug'
                         binaries.all {
@@ -189,7 +189,7 @@ model {
                             lib project: ':wpigui', library: 'wpigui', linkage: 'static'
                             lib library: 'cscore', linkage: 'shared'
                             nativeUtils.useRequiredLibrary(it, 'imgui_static')
-                            if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio || it.targetPlatform.name == nativeUtils.wpi.platforms.raspbian || it.targetPlatform.name == nativeUtils.wpi.platforms.aarch64bionic) {
+                            if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio || it.targetPlatform.name == nativeUtils.wpi.platforms.linuxarm32 || it.targetPlatform.name == nativeUtils.wpi.platforms.linuxarm64) {
                                 it.buildable = false
                                 return
                             }
diff --git a/datalogtool/build.gradle b/datalogtool/build.gradle
index 8c8fc6c7d4..c7f1c158b5 100644
--- a/datalogtool/build.gradle
+++ b/datalogtool/build.gradle
@@ -1,6 +1,6 @@
 import org.gradle.internal.os.OperatingSystem
 
-if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxraspbian') && !project.hasProperty('onlylinuxaarch64bionic')) {
+if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxarm32') && !project.hasProperty('onlylinuxarm64')) {
 
     description = "roboRIO Team Number Setter"
 
@@ -27,12 +27,12 @@ if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxra
     nativeUtils {
         nativeDependencyContainer {
             libssh(getNativeDependencyTypeClass('WPIStaticMavenDependency')) {
-                groupId = "edu.wpi.first.thirdparty.frc2022"
+                groupId = "edu.wpi.first.thirdparty.frc2023"
                 artifactId = "libssh"
                 headerClassifier = "headers"
                 sourceClassifier = "sources"
                 ext = "zip"
-                version = '0.95-1'
+                version = '0.95-3'
                 targetPlatforms.addAll(nativeUtils.wpi.platforms.desktopPlatforms)
             }
         }
@@ -107,7 +107,7 @@ if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxra
                     }
                 }
                 binaries.all {
-                    if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio || it.targetPlatform.name == nativeUtils.wpi.platforms.raspbian || it.targetPlatform.name == nativeUtils.wpi.platforms.aarch64bionic) {
+                    if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio || it.targetPlatform.name == nativeUtils.wpi.platforms.linuxarm32 || it.targetPlatform.name == nativeUtils.wpi.platforms.linuxarm64) {
                         it.buildable = false
                         return
                     }
diff --git a/datalogtool/publish.gradle b/datalogtool/publish.gradle
index 2130d0449a..9608bef7b6 100644
--- a/datalogtool/publish.gradle
+++ b/datalogtool/publish.gradle
@@ -10,7 +10,7 @@ model {
     tasks {
         // Create the run task.
         $.components.datalogtool.binaries.each { bin ->
-            if (bin.buildable && bin.name.toLowerCase().contains("debug")) {
+            if (bin.buildable && bin.name.toLowerCase().contains("debug") && nativeUtils.isNativeDesktopPlatform(bin.targetPlatform)) {
                 Task run = project.tasks.create("run", Exec) {
                     commandLine bin.tasks.install.runScriptFile.get().asFile.toString()
                 }
@@ -30,10 +30,10 @@ model {
                         def icon = file("$project.projectDir/src/main/native/mac/datalogtool.icns")
 
                         // Create the macOS bundle.
-                        def bundleTask = project.tasks.create("bundleDataLogToolOsxApp", Copy) {
+                        def bundleTask = project.tasks.create("bundleDataLogToolOsxApp" + binary.targetPlatform.architecture.name, Copy) {
                             description("Creates a macOS application bundle for DataLogTool")
                             from(file("$project.projectDir/Info.plist"))
-                            into(file("$project.buildDir/outputs/bundles/DataLogTool.app/Contents"))
+                            into(file("$project.buildDir/outputs/bundles/$binary.targetPlatform.architecture.name/DataLogTool.app/Contents"))
                             into("MacOS") { with copySpec { from binary.executable.file } }
                             into("Resources") { with copySpec { from icon } }
 
@@ -48,7 +48,7 @@ model {
                                             "codesign --force --strict --deep " +
                                             "--timestamp --options=runtime " +
                                             "--verbose -s ${project.findProperty("developerID")} " +
-                                            "$project.buildDir/outputs/bundles/DataLogTool.app/"
+                                            "$project.buildDir/outputs/bundles/$binary.targetPlatform.architecture.name/DataLogTool.app/"
                                         ]
                                         commandLine args
                                     }
@@ -58,12 +58,12 @@ model {
 
                         // Reset the application path if we are creating a bundle.
                         if (binary.targetPlatform.operatingSystem.isMacOsX()) {
-                            applicationPath = file("$project.buildDir/outputs/bundles")
+                            applicationPath = file("$project.buildDir/outputs/bundles/$binary.targetPlatform.architecture.name")
                             project.build.dependsOn bundleTask
                         }
 
                         // Create the ZIP.
-                        def task = project.tasks.create("copyDataLogToolExecutable", Zip) {
+                        def task = project.tasks.create("copyDataLogToolExecutable" + binary.targetPlatform.architecture.name, Zip) {
                             description("Copies the DataLogTool executable to the outputs directory.")
                             destinationDirectory = outputsFolder
 
diff --git a/fieldImages/build.gradle b/fieldImages/build.gradle
index 476dd3c309..0d1dbb1cfc 100644
--- a/fieldImages/build.gradle
+++ b/fieldImages/build.gradle
@@ -1,6 +1,6 @@
 import org.gradle.internal.os.OperatingSystem
 
-if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxraspbian') && !project.hasProperty('onlylinuxaarch64bionic')) {
+if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxarm32') && !project.hasProperty('onlylinuxarm64')) {
 
     apply plugin: 'cpp'
     apply plugin: 'c'
diff --git a/glass/build.gradle b/glass/build.gradle
index 9f42d6f182..6c31d17234 100644
--- a/glass/build.gradle
+++ b/glass/build.gradle
@@ -1,6 +1,6 @@
 import org.gradle.internal.os.OperatingSystem
 
-if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxraspbian') && !project.hasProperty('onlylinuxaarch64bionic')) {
+if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxarm32') && !project.hasProperty('onlylinuxarm64')) {
 
     description = "A different kind of dashboard"
 
@@ -100,7 +100,7 @@ if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxra
                     }
                 }
                 binaries.all {
-                    if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio || it.targetPlatform.name == nativeUtils.wpi.platforms.raspbian || it.targetPlatform.name == nativeUtils.wpi.platforms.aarch64bionic) {
+                    if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio || it.targetPlatform.name == nativeUtils.wpi.platforms.linuxarm32 || it.targetPlatform.name == nativeUtils.wpi.platforms.linuxarm64) {
                         it.buildable = false
                         return
                     }
@@ -128,7 +128,7 @@ if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxra
                     }
                 }
                 binaries.all {
-                    if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio || it.targetPlatform.name == nativeUtils.wpi.platforms.raspbian || it.targetPlatform.name == nativeUtils.wpi.platforms.aarch64bionic) {
+                    if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio || it.targetPlatform.name == nativeUtils.wpi.platforms.linuxarm32 || it.targetPlatform.name == nativeUtils.wpi.platforms.linuxarm64) {
                         it.buildable = false
                         return
                     }
@@ -169,7 +169,7 @@ if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxra
                     }
                 }
                 binaries.all {
-                    if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio || it.targetPlatform.name == nativeUtils.wpi.platforms.raspbian || it.targetPlatform.name == nativeUtils.wpi.platforms.aarch64bionic) {
+                    if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio || it.targetPlatform.name == nativeUtils.wpi.platforms.linuxarm32 || it.targetPlatform.name == nativeUtils.wpi.platforms.linuxarm64) {
                         it.buildable = false
                         return
                     }
diff --git a/glass/publish.gradle b/glass/publish.gradle
index 4dce506947..b127c11321 100644
--- a/glass/publish.gradle
+++ b/glass/publish.gradle
@@ -64,7 +64,8 @@ model {
     tasks {
         // Create the run task.
         $.components.glassApp.binaries.each { bin ->
-            if (bin.buildable && bin.name.toLowerCase().contains("debug")) {
+            if (bin.buildable && bin.name.toLowerCase().contains("debug") && nativeUtils.isNativeDesktopPlatform(bin.targetPlatform)) {
+
                 Task run = project.tasks.create("run", Exec) {
                     commandLine bin.tasks.install.runScriptFile.get().asFile.toString()
                 }
@@ -84,10 +85,10 @@ model {
                         def icon = file("$project.projectDir/src/app/native/mac/glass.icns")
 
                         // Create the macOS bundle.
-                        def bundleTask = project.tasks.create("bundleGlassOsxApp", Copy) {
+                        def bundleTask = project.tasks.create("bundleGlassOsxApp" + binary.targetPlatform.architecture.name, Copy) {
                             description("Creates a macOS application bundle for Glass")
                             from(file("$project.projectDir/Info.plist"))
-                            into(file("$project.buildDir/outputs/bundles/Glass.app/Contents"))
+                            into(file("$project.buildDir/outputs/bundles/$binary.targetPlatform.architecture.name/Glass.app/Contents"))
                             into("MacOS") { with copySpec { from binary.executable.file } }
                             into("Resources") { with copySpec { from icon } }
 
@@ -102,7 +103,7 @@ model {
                                             "codesign --force --strict --deep " +
                                             "--timestamp --options=runtime " +
                                             "--verbose -s ${project.findProperty("developerID")} " +
-                                            "$project.buildDir/outputs/bundles/Glass.app/"
+                                            "$project.buildDir/outputs/bundles/$binary.targetPlatform.architecture.name/Glass.app/"
                                         ]
                                         commandLine args
                                     }
@@ -112,12 +113,12 @@ model {
 
                         // Reset the application path if we are creating a bundle.
                         if (binary.targetPlatform.operatingSystem.isMacOsX()) {
-                            applicationPath = file("$project.buildDir/outputs/bundles")
+                            applicationPath = file("$project.buildDir/outputs/bundles/$binary.targetPlatform.architecture.name")
                             project.build.dependsOn bundleTask
                         }
 
                         // Create the ZIP.
-                        def task = project.tasks.create("copyGlassExecutable", Zip) {
+                        def task = project.tasks.create("copyGlassExecutable" + binary.targetPlatform.architecture.name, Zip) {
                             description("Copies the Glass executable to the outputs directory.")
                             destinationDirectory = outputsFolder
 
diff --git a/gradle/wrapper/gradle-wrapper.jar b/gradle/wrapper/gradle-wrapper.jar
index 7454180f2a..249e5832f0 100644
Binary files a/gradle/wrapper/gradle-wrapper.jar and b/gradle/wrapper/gradle-wrapper.jar differ
diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties
index 2e6e5897b5..26e62a13f1 100644
--- a/gradle/wrapper/gradle-wrapper.properties
+++ b/gradle/wrapper/gradle-wrapper.properties
@@ -1,5 +1,5 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-7.3.3-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-7.5-rc-2-bin.zip
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=wrapper/dists
diff --git a/gradlew b/gradlew
index 1b6c787337..a69d9cb6c2 100755
--- a/gradlew
+++ b/gradlew
@@ -205,6 +205,12 @@ set -- \
         org.gradle.wrapper.GradleWrapperMain \
         "$@"
 
+# Stop when "xargs" is not available.
+if ! command -v xargs >/dev/null 2>&1
+then
+    die "xargs is not available"
+fi
+
 # Use "xargs" to parse quoted args.
 #
 # With -n1 it outputs one arg per line, with the quotes and backslashes removed.
diff --git a/gradlew.bat b/gradlew.bat
index ac1b06f938..53a6b238d4 100644
--- a/gradlew.bat
+++ b/gradlew.bat
@@ -14,7 +14,7 @@
 @rem limitations under the License.
 @rem
 
-@if "%DEBUG%" == "" @echo off
+@if "%DEBUG%"=="" @echo off
 @rem ##########################################################################
 @rem
 @rem  Gradle startup script for Windows
@@ -25,7 +25,7 @@
 if "%OS%"=="Windows_NT" setlocal
 
 set DIRNAME=%~dp0
-if "%DIRNAME%" == "" set DIRNAME=.
+if "%DIRNAME%"=="" set DIRNAME=.
 set APP_BASE_NAME=%~n0
 set APP_HOME=%DIRNAME%
 
@@ -40,7 +40,7 @@ if defined JAVA_HOME goto findJavaFromJavaHome
 
 set JAVA_EXE=java.exe
 %JAVA_EXE% -version >NUL 2>&1
-if "%ERRORLEVEL%" == "0" goto execute
+if %ERRORLEVEL% equ 0 goto execute
 
 echo.
 echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
@@ -75,13 +75,15 @@ set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
 
 :end
 @rem End local scope for the variables with windows NT shell
-if "%ERRORLEVEL%"=="0" goto mainEnd
+if %ERRORLEVEL% equ 0 goto mainEnd
 
 :fail
 rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of
 rem the _cmd.exe /c_ return code!
-if  not "" == "%GRADLE_EXIT_CONSOLE%" exit 1
-exit /b 1
+set EXIT_CODE=%ERRORLEVEL%
+if %EXIT_CODE% equ 0 set EXIT_CODE=1
+if not ""=="%GRADLE_EXIT_CONSOLE%" exit %EXIT_CODE%
+exit /b %EXIT_CODE%
 
 :mainEnd
 if "%OS%"=="Windows_NT" endlocal
diff --git a/outlineviewer/build.gradle b/outlineviewer/build.gradle
index 17c5baf8b9..cbf0a16c63 100644
--- a/outlineviewer/build.gradle
+++ b/outlineviewer/build.gradle
@@ -1,6 +1,6 @@
 import org.gradle.internal.os.OperatingSystem
 
-if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxraspbian') && !project.hasProperty('onlylinuxaarch64bionic')) {
+if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxarm32') && !project.hasProperty('onlylinuxarm64')) {
 
     description = "NetworkTables Viewer"
 
@@ -93,7 +93,7 @@ if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxra
                     }
                 }
                 binaries.all {
-                    if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio || it.targetPlatform.name == nativeUtils.wpi.platforms.raspbian || it.targetPlatform.name == nativeUtils.wpi.platforms.aarch64bionic) {
+                    if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio || it.targetPlatform.name == nativeUtils.wpi.platforms.linuxarm32 || it.targetPlatform.name == nativeUtils.wpi.platforms.linuxarm64) {
                         it.buildable = false
                         return
                     }
diff --git a/outlineviewer/publish.gradle b/outlineviewer/publish.gradle
index 78f044fa6e..85bb26c69a 100644
--- a/outlineviewer/publish.gradle
+++ b/outlineviewer/publish.gradle
@@ -10,7 +10,7 @@ model {
     tasks {
         // Create the run task.
         $.components.outlineviewer.binaries.each { bin ->
-            if (bin.buildable && bin.name.toLowerCase().contains("debug")) {
+            if (bin.buildable && bin.name.toLowerCase().contains("debug") && nativeUtils.isNativeDesktopPlatform(bin.targetPlatform)) {
                 Task run = project.tasks.create("run", Exec) {
                     commandLine bin.tasks.install.runScriptFile.get().asFile.toString()
                 }
@@ -30,10 +30,10 @@ model {
                         def icon = file("$project.projectDir/src/main/native/mac/ov.icns")
 
                         // Create the macOS bundle.
-                        def bundleTask = project.tasks.create("bundleOutlineViewerOsxApp", Copy) {
+                        def bundleTask = project.tasks.create("bundleOutlineViewerOsxApp" + binary.targetPlatform.architecture.name, Copy) {
                             description("Creates a macOS application bundle for OutlineViewer")
                             from(file("$project.projectDir/Info.plist"))
-                            into(file("$project.buildDir/outputs/bundles/OutlineViewer.app/Contents"))
+                            into(file("$project.buildDir/outputs/bundles/$binary.targetPlatform.architecture.name/OutlineViewer.app/Contents"))
                             into("MacOS") { with copySpec { from binary.executable.file } }
                             into("Resources") { with copySpec { from icon } }
 
@@ -48,7 +48,7 @@ model {
                                             "codesign --force --strict --deep " +
                                             "--timestamp --options=runtime " +
                                             "--verbose -s ${project.findProperty("developerID")} " +
-                                            "$project.buildDir/outputs/bundles/OutlineViewer.app/"
+                                            "$project.buildDir/outputs/bundles/$binary.targetPlatform.architecture.name/OutlineViewer.app/"
                                         ]
                                         commandLine args
                                     }
@@ -58,12 +58,12 @@ model {
 
                         // Reset the application path if we are creating a bundle.
                         if (binary.targetPlatform.operatingSystem.isMacOsX()) {
-                            applicationPath = file("$project.buildDir/outputs/bundles")
+                            applicationPath = file("$project.buildDir/outputs/bundles/$binary.targetPlatform.architecture.name")
                             project.build.dependsOn bundleTask
                         }
 
                         // Create the ZIP.
-                        def task = project.tasks.create("copyOutlineViewerExecutable", Zip) {
+                        def task = project.tasks.create("copyOutlineViewerExecutable" + binary.targetPlatform.architecture.name, Zip) {
                             description("Copies the OutlineViewer executable to the outputs directory.")
                             destinationDirectory = outputsFolder
 
diff --git a/roborioteamnumbersetter/build.gradle b/roborioteamnumbersetter/build.gradle
index 4a08fdcc19..2ca1215b2e 100644
--- a/roborioteamnumbersetter/build.gradle
+++ b/roborioteamnumbersetter/build.gradle
@@ -1,6 +1,6 @@
 import org.gradle.internal.os.OperatingSystem
 
-if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxraspbian') && !project.hasProperty('onlylinuxaarch64bionic')) {
+if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxarm32') && !project.hasProperty('onlylinuxarm64')) {
 
     description = "roboRIO Team Number Setter"
 
@@ -27,12 +27,12 @@ if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxra
     nativeUtils {
         nativeDependencyContainer {
             libssh(getNativeDependencyTypeClass('WPIStaticMavenDependency')) {
-                groupId = "edu.wpi.first.thirdparty.frc2022"
+                groupId = "edu.wpi.first.thirdparty.frc2023"
                 artifactId = "libssh"
                 headerClassifier = "headers"
                 sourceClassifier = "sources"
                 ext = "zip"
-                version = '0.95-1'
+                version = '0.95-3'
                 targetPlatforms.addAll(nativeUtils.wpi.platforms.desktopPlatforms)
             }
         }
@@ -107,7 +107,7 @@ if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxra
                     }
                 }
                 binaries.all {
-                    if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio || it.targetPlatform.name == nativeUtils.wpi.platforms.raspbian || it.targetPlatform.name == nativeUtils.wpi.platforms.aarch64bionic) {
+                    if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio || it.targetPlatform.name == nativeUtils.wpi.platforms.linuxarm32 || it.targetPlatform.name == nativeUtils.wpi.platforms.linuxarm64) {
                         it.buildable = false
                         return
                     }
diff --git a/roborioteamnumbersetter/publish.gradle b/roborioteamnumbersetter/publish.gradle
index 478f3d39a0..10b9de1d0f 100644
--- a/roborioteamnumbersetter/publish.gradle
+++ b/roborioteamnumbersetter/publish.gradle
@@ -10,7 +10,7 @@ model {
     tasks {
         // Create the run task.
         $.components.roborioteamnumbersetter.binaries.each { bin ->
-            if (bin.buildable && bin.name.toLowerCase().contains("debug")) {
+            if (bin.buildable && bin.name.toLowerCase().contains("debug") && nativeUtils.isNativeDesktopPlatform(bin.targetPlatform)) {
                 Task run = project.tasks.create("run", Exec) {
                     commandLine bin.tasks.install.runScriptFile.get().asFile.toString()
                 }
@@ -30,10 +30,10 @@ model {
                         def icon = file("$project.projectDir/src/main/native/mac/rtns.icns")
 
                         // Create the macOS bundle.
-                        def bundleTask = project.tasks.create("bundleroboRIOTeamNumberSetterOsxApp", Copy) {
+                        def bundleTask = project.tasks.create("bundleroboRIOTeamNumberSetterOsxApp" + binary.targetPlatform.architecture.name, Copy) {
                             description("Creates a macOS application bundle for roboRIO Team Number Setter")
                             from(file("$project.projectDir/Info.plist"))
-                            into(file("$project.buildDir/outputs/bundles/roboRIOTeamNumberSetter.app/Contents"))
+                            into(file("$project.buildDir/outputs/bundles/$binary.targetPlatform.architecture.name/roboRIOTeamNumberSetter.app/Contents"))
                             into("MacOS") { with copySpec { from binary.executable.file } }
                             into("Resources") { with copySpec { from icon } }
 
@@ -48,7 +48,7 @@ model {
                                             "codesign --force --strict --deep " +
                                             "--timestamp --options=runtime " +
                                             "--verbose -s ${project.findProperty("developerID")} " +
-                                            "$project.buildDir/outputs/bundles/roboRIOTeamNumberSetter.app/"
+                                            "$project.buildDir/outputs/bundles/$binary.targetPlatform.architecture.name/roboRIOTeamNumberSetter.app/"
                                         ]
                                         commandLine args
                                     }
@@ -58,12 +58,12 @@ model {
 
                         // Reset the application path if we are creating a bundle.
                         if (binary.targetPlatform.operatingSystem.isMacOsX()) {
-                            applicationPath = file("$project.buildDir/outputs/bundles")
+                            applicationPath = file("$project.buildDir/outputs/bundles/$binary.targetPlatform.architecture.name")
                             project.build.dependsOn bundleTask
                         }
 
                         // Create the ZIP.
-                        def task = project.tasks.create("copyroboRIOTeamNumberSetterExecutable", Zip) {
+                        def task = project.tasks.create("copyroboRIOTeamNumberSetterExecutable" + binary.targetPlatform.architecture.name, Zip) {
                             description("Copies the roboRIOTeamNumberSetter executable to the outputs directory.")
                             destinationDirectory = outputsFolder
 
diff --git a/shared/config.gradle b/shared/config.gradle
index fa02c5ee55..a565026cc6 100644
--- a/shared/config.gradle
+++ b/shared/config.gradle
@@ -7,17 +7,17 @@ if (project.hasProperty('ciDebugOnly')) {
 }
 
 nativeUtils.addWpiNativeUtils()
-nativeUtils.withRoboRIO()
-nativeUtils.withRaspbian()
-nativeUtils.withBionic()
+nativeUtils.withCrossRoboRIO()
+nativeUtils.withCrossLinuxArm32()
+nativeUtils.withCrossLinuxArm64()
 nativeUtils {
     wpi {
         configureDependencies {
             wpiVersion = "-1"
             niLibVersion = "2022.4.0"
-            opencvVersion = "4.5.2-1"
-            googleTestVersion = "1.9.0-5-437e100-1"
-            imguiVersion = "1.86-1"
+            opencvVersion = "4.5.5-3"
+            googleTestVersion = "1.11.0-2"
+            imguiVersion = "1.87-2"
             wpimathVersion = "-1"
         }
     }
@@ -38,7 +38,7 @@ nativeUtils.platformConfigs.each {
         return
     }
     it.linker.args << '-Wl,-rpath,\'$ORIGIN\''
-    if (it.name == 'osxx86-64') {
+    if (it.name == 'osxx86-64' || it.name == 'osxarm64') {
         it.linker.args << "-headerpad_max_install_names"
     }
 }
diff --git a/shared/java/javacommon.gradle b/shared/java/javacommon.gradle
index 0065886fe3..4c57f1f49e 100644
--- a/shared/java/javacommon.gradle
+++ b/shared/java/javacommon.gradle
@@ -81,7 +81,7 @@ test {
     finalizedBy jacocoTestReport
 }
 
-if (project.hasProperty('onlylinuxathena') || project.hasProperty('onlylinuxraspbian') || project.hasProperty('onlylinuxaarch64bionic')) {
+if (project.hasProperty('onlylinuxathena') || project.hasProperty('onlylinuxarm32') || project.hasProperty('onlylinuxarm64')) {
     test.enabled = false
 }
 
diff --git a/shared/jni/setupBuild.gradle b/shared/jni/setupBuild.gradle
index f89780647d..10d1740d09 100644
--- a/shared/jni/setupBuild.gradle
+++ b/shared/jni/setupBuild.gradle
@@ -104,8 +104,8 @@ model {
             enableCheckTask !project.hasProperty('skipJniCheck')
             javaCompileTasks << compileJava
             jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.roborio)
-            jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.raspbian)
-            jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.aarch64bionic)
+            jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.linuxarm32)
+            jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.linuxarm64)
             sources {
                 cpp {
                     source {
@@ -145,8 +145,8 @@ model {
             enableCheckTask !project.hasProperty('skipJniCheck')
             javaCompileTasks << compileJava
             jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.roborio)
-            jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.raspbian)
-            jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.aarch64bionic)
+            jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.linuxarm32)
+            jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.linuxarm64)
             sources {
                 cpp {
                     source {
diff --git a/shared/plugins/setupBuild.gradle b/shared/plugins/setupBuild.gradle
index 6b0eb0771f..3caa30a3f7 100644
--- a/shared/plugins/setupBuild.gradle
+++ b/shared/plugins/setupBuild.gradle
@@ -57,7 +57,7 @@ if (!project.hasProperty('onlylinuxathena')) {
                     }
                 }
                 binaries.all {
-                    if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxraspbian')  && !project.hasProperty('onlylinuxaarch64bionic')) {
+                    if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxarm32')  && !project.hasProperty('onlylinuxarm64')) {
                         project(':hal').addHalDependency(it, 'shared')
                         lib library: pluginName
                         if (project.hasProperty('includeNtCore')) {
@@ -84,7 +84,7 @@ if (!project.hasProperty('onlylinuxathena')) {
 model {
     tasks {
         def c = $.components
-        if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxraspbian') && !project.hasProperty('onlylinuxaarch64bionic')) {
+        if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxarm32') && !project.hasProperty('onlylinuxarm64')) {
             project.tasks.create('runCpp', Exec) {
                 group = 'WPILib'
                 description = "Run the ${pluginName}Dev executable"
diff --git a/simulation/frc_gazebo_plugins/build.gradle b/simulation/frc_gazebo_plugins/build.gradle
index f42b70bf88..a7f7a76cac 100644
--- a/simulation/frc_gazebo_plugins/build.gradle
+++ b/simulation/frc_gazebo_plugins/build.gradle
@@ -5,7 +5,7 @@ apply plugin: 'cpp'
 apply plugin: "google-test"
 
 ext.skiplinuxathena = true
-ext.skiplinuxraspbian = true
+ext.skiplinuxarm32 = true
 
 apply from: "${rootDir}/shared/config.gradle"
 
diff --git a/simulation/gz_msgs/build.gradle b/simulation/gz_msgs/build.gradle
index 31f3df4985..c77b24634c 100644
--- a/simulation/gz_msgs/build.gradle
+++ b/simulation/gz_msgs/build.gradle
@@ -9,7 +9,7 @@ description = "A C++ and Java library to pass FRC Simulation Messages in and out
 
 /* The simulation does not run on real hardware; so we always skip Athena */
 ext.skiplinuxathena = true
-ext.skiplinuxraspbian = true
+ext.skiplinuxarm32 = true
 apply from: "${rootDir}/shared/config.gradle"
 
 /* Use a sort of poor man's autoconf to find the protobuf development
diff --git a/simulation/halsim_ds_socket/build.gradle b/simulation/halsim_ds_socket/build.gradle
index f21fb552b9..186903e8eb 100644
--- a/simulation/halsim_ds_socket/build.gradle
+++ b/simulation/halsim_ds_socket/build.gradle
@@ -21,7 +21,7 @@ apply from: "${rootDir}/shared/plugins/setupBuild.gradle"
 model {
     testSuites {
         def comps = $.components
-        if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxraspbian') && !project.hasProperty('onlylinuxaarch64bionic')) {
+        if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxarm32') && !project.hasProperty('onlylinuxarm64')) {
             "${pluginName}Test"(GoogleTestTestSuiteSpec) {
                 for(NativeComponentSpec c : comps) {
                     if (c.name == pluginName) {
diff --git a/simulation/halsim_gazebo/build.gradle b/simulation/halsim_gazebo/build.gradle
index 8d340d38c7..3e4eb396ca 100644
--- a/simulation/halsim_gazebo/build.gradle
+++ b/simulation/halsim_gazebo/build.gradle
@@ -4,7 +4,7 @@ apply plugin: 'edu.wpi.first.NativeUtils'
 apply plugin: 'cpp'
 
 ext.skiplinuxathena = true
-ext.skiplinuxraspbian = true
+ext.skiplinuxarm32 = true
 ext.pluginName = 'halsim_gazebo'
 
 /* If gz_msgs or gazebo is not available, do not attempt a build */
diff --git a/simulation/halsim_gui/build.gradle b/simulation/halsim_gui/build.gradle
index b947733f54..b9dcc316bf 100644
--- a/simulation/halsim_gui/build.gradle
+++ b/simulation/halsim_gui/build.gradle
@@ -1,4 +1,4 @@
-if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxraspbian') && !project.hasProperty('onlylinuxaarch64bionic')) {
+if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxarm32') && !project.hasProperty('onlylinuxarm64')) {
 
     description = "A plugin that creates a simulation gui"
 
@@ -29,7 +29,7 @@ if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxra
                 lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
                 lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
                 nativeUtils.useRequiredLibrary(it, 'imgui_static')
-                if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio || it.targetPlatform.name == nativeUtils.wpi.platforms.raspbian || it.targetPlatform.name == nativeUtils.wpi.platforms.aarch64bionic) {
+                if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio || it.targetPlatform.name == nativeUtils.wpi.platforms.linuxarm32 || it.targetPlatform.name == nativeUtils.wpi.platforms.linuxarm64) {
                     it.buildable = false
                     return
                 }
diff --git a/simulation/halsim_ws_server/build.gradle b/simulation/halsim_ws_server/build.gradle
index 94237d426d..e4eb6c2f70 100644
--- a/simulation/halsim_ws_server/build.gradle
+++ b/simulation/halsim_ws_server/build.gradle
@@ -21,7 +21,7 @@ apply from: "${rootDir}/shared/plugins/setupBuild.gradle"
 model {
     testSuites {
         def comps = $.components
-        if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxraspbian') && !project.hasProperty('onlylinuxaarch64bionic')) {
+        if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxarm32') && !project.hasProperty('onlylinuxarm64')) {
             "${pluginName}Test"(GoogleTestTestSuiteSpec) {
                 for(NativeComponentSpec c : comps) {
                     if (c.name == pluginName) {
diff --git a/wpigui/build.gradle b/wpigui/build.gradle
index c37d9e0cbc..40b0a52243 100644
--- a/wpigui/build.gradle
+++ b/wpigui/build.gradle
@@ -1,6 +1,6 @@
 import org.gradle.internal.os.OperatingSystem
 
-if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxraspbian') && !project.hasProperty('onlylinuxaarch64bionic')) {
+if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxarm32') && !project.hasProperty('onlylinuxarm64')) {
 
     apply plugin: 'cpp'
     if (OperatingSystem.current().isMacOsX()) {
@@ -49,7 +49,7 @@ if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxra
                 }
                 binaries.all {
                     nativeUtils.useRequiredLibrary(it, 'imgui_static')
-                    if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio || it.targetPlatform.name == nativeUtils.wpi.platforms.raspbian || it.targetPlatform.name == nativeUtils.wpi.platforms.aarch64bionic) {
+                    if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio || it.targetPlatform.name == nativeUtils.wpi.platforms.linuxarm32 || it.targetPlatform.name == nativeUtils.wpi.platforms.linuxarm64) {
                         it.buildable = false
                         return
                     }
@@ -111,7 +111,7 @@ if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxra
         }
         binaries {
             all {
-                if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio || it.targetPlatform.name == nativeUtils.wpi.platforms.raspbian || it.targetPlatform.name == nativeUtils.wpi.platforms.aarch64bionic) {
+                if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio || it.targetPlatform.name == nativeUtils.wpi.platforms.linuxarm32 || it.targetPlatform.name == nativeUtils.wpi.platforms.linuxarm64) {
                     it.buildable = false
                     return
                 }
diff --git a/wpilibNewCommands/WPILibNewCommands.json b/wpilibNewCommands/WPILibNewCommands.json
index fb6622786c..22e1c6f395 100644
--- a/wpilibNewCommands/WPILibNewCommands.json
+++ b/wpilibNewCommands/WPILibNewCommands.json
@@ -25,12 +25,13 @@
           "skipInvalidPlatforms": true,
           "binaryPlatforms": [
               "linuxathena",
-              "linuxraspbian",
-              "linuxaarch64bionic",
+              "linuxarm32",
+              "linuxarm64",
               "windowsx86-64",
               "windowsx86",
               "linuxx86-64",
-              "osxx86-64"
+              "osxx86-64",
+              "osxarm64"
           ]
       }
   ]
diff --git a/wpilibjExamples/build.gradle b/wpilibjExamples/build.gradle
index 431dbd5ad1..a241925ee1 100644
--- a/wpilibjExamples/build.gradle
+++ b/wpilibjExamples/build.gradle
@@ -21,7 +21,7 @@ test {
     finalizedBy jacocoTestReport
 }
 
-if (project.hasProperty('onlylinuxathena') || project.hasProperty('onlylinuxraspbian') || project.hasProperty('onlylinuxaarch64bionic')) {
+if (project.hasProperty('onlylinuxathena') || project.hasProperty('onlylinuxarm32') || project.hasProperty('onlylinuxarm64')) {
     test.enabled = false
 }
 
diff --git a/wpiutil/src/main/java/edu/wpi/first/util/RuntimeDetector.java b/wpiutil/src/main/java/edu/wpi/first/util/RuntimeDetector.java
index d4ad833042..81a9e21dc7 100644
--- a/wpiutil/src/main/java/edu/wpi/first/util/RuntimeDetector.java
+++ b/wpiutil/src/main/java/edu/wpi/first/util/RuntimeDetector.java
@@ -4,11 +4,7 @@
 
 package edu.wpi.first.util;
 
-import java.io.BufferedReader;
 import java.io.File;
-import java.io.IOException;
-import java.nio.file.Files;
-import java.nio.file.Paths;
 
 public final class RuntimeDetector {
   private static String filePrefix;
@@ -22,6 +18,7 @@ public final class RuntimeDetector {
 
     boolean intel32 = is32BitIntel();
     boolean intel64 = is64BitIntel();
+    boolean arm64 = isArm64();
 
     if (isWindows()) {
       filePrefix = "";
@@ -35,7 +32,9 @@ public final class RuntimeDetector {
       filePrefix = "lib";
       fileExtension = ".dylib";
       if (intel32) {
-        filePath = "/osx/x86";
+        filePath = "/osx/x86/";
+      } else if (arm64) {
+        filePath = "/osx/arm64/";
       } else {
         filePath = "/osx/x86-64/";
       }
@@ -48,10 +47,10 @@ public final class RuntimeDetector {
         filePath = "/linux/x86-64/";
       } else if (isAthena()) {
         filePath = "/linux/athena/";
-      } else if (isRaspbian()) {
-        filePath = "/linux/raspbian/";
-      } else if (isAarch64()) {
-        filePath = "/linux/aarch64bionic/";
+      } else if (isArm32()) {
+        filePath = "/linux/arm32/";
+      } else if (arm64) {
+        filePath = "/linux/arm64/";
       } else {
         filePath = "/linux/nativearm/";
       }
@@ -128,29 +127,23 @@ public final class RuntimeDetector {
   }
 
   /**
-   * Check if OS is Raspbian.
+   * Check if OS is Arm32.
    *
-   * @return True if OS is Raspbian.
+   * @return True if OS is Arm32.
    */
-  public static boolean isRaspbian() {
-    try (BufferedReader reader = Files.newBufferedReader(Paths.get("/etc/os-release"))) {
-      String value = reader.readLine();
-      if (value == null) {
-        return false;
-      }
-      return value.contains("Raspbian");
-    } catch (IOException ex) {
-      return false;
-    }
+  public static boolean isArm32() {
+    String arch = System.getProperty("os.arch");
+    return "arm".equals(arch) || "arm32".equals(arch);
   }
 
   /**
-   * check if architecture is aarch64.
+   * check if architecture is Arm64.
    *
-   * @return if architecture is aarch64
+   * @return if architecture is Arm64
    */
-  public static boolean isAarch64() {
-    return "aarch64".equals(System.getProperty("os.arch"));
+  public static boolean isArm64() {
+    String arch = System.getProperty("os.arch");
+    return "aarch64".equals(arch) || "arm64".equals(arch);
   }
 
   public static boolean isLinux() {