diff --git a/wpimath/src/main/java/edu/wpi/first/math/system/plant/LinearSystemId.java b/wpimath/src/main/java/edu/wpi/first/math/system/plant/LinearSystemId.java
index ce1129b059..bc64c5c73c 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/system/plant/LinearSystemId.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/system/plant/LinearSystemId.java
@@ -138,7 +138,8 @@ public final class LinearSystemId {
    * @param kA The acceleration gain, in volts/(unit/sec²)
    * @return A LinearSystem representing the given characterized constants.
    * @throws IllegalArgumentException if kV < 0 or kA <= 0.
-   * @see <a href="https://github.com/wpilibsuite/sysid">https://github.com/wpilibsuite/sysid</a>
+   * @see <a
+   *     href="https://github.com/wpilibsuite/allwpilib/tree/main/sysid">https://github.com/wpilibsuite/allwpilib/tree/main/sysid</a>
    */
   public static LinearSystem<N2, N1, N2> createDCMotorSystem(double kV, double kA) {
     if (kV < 0.0) {
@@ -259,7 +260,8 @@ public final class LinearSystemId {
    * @param kA The acceleration gain, in volts/(unit/sec²)
    * @return A LinearSystem representing the given characterized constants.
    * @throws IllegalArgumentException if kV &lt; 0 or kA &lt;= 0.
-   * @see <a href="https://github.com/wpilibsuite/sysid">https://github.com/wpilibsuite/sysid</a>
+   * @see <a
+   *     href="https://github.com/wpilibsuite/allwpilib/tree/main/sysid">https://github.com/wpilibsuite/allwpilib/tree/main/sysid</a>
    */
   public static LinearSystem<N1, N1, N1> identifyVelocitySystem(double kV, double kA) {
     if (kV < 0.0) {
@@ -292,7 +294,8 @@ public final class LinearSystemId {
    * @param kA The acceleration gain, in volts/(unit/sec²)
    * @return A LinearSystem representing the given characterized constants.
    * @throws IllegalArgumentException if kV &lt; 0 or kA &lt;= 0.
-   * @see <a href="https://github.com/wpilibsuite/sysid">https://github.com/wpilibsuite/sysid</a>
+   * @see <a
+   *     href="https://github.com/wpilibsuite/allwpilib/tree/main/sysid">https://github.com/wpilibsuite/allwpilib/tree/main/sysid</a>
    */
   public static LinearSystem<N2, N1, N2> identifyPositionSystem(double kV, double kA) {
     if (kV < 0.0) {
@@ -325,7 +328,8 @@ public final class LinearSystemId {
    * @return A LinearSystem representing the given characterized constants.
    * @throws IllegalArgumentException if kVLinear &lt;= 0, kALinear &lt;= 0, kVAngular &lt;= 0, or
    *     kAAngular &lt;= 0.
-   * @see <a href="https://github.com/wpilibsuite/sysid">https://github.com/wpilibsuite/sysid</a>
+   * @see <a
+   *     href="https://github.com/wpilibsuite/allwpilib/tree/main/sysid">https://github.com/wpilibsuite/allwpilib/tree/main/sysid</a>
    */
   public static LinearSystem<N2, N2, N2> identifyDrivetrainSystem(
       double kVLinear, double kALinear, double kVAngular, double kAAngular) {
@@ -372,7 +376,8 @@ public final class LinearSystemId {
    * @return A LinearSystem representing the given characterized constants.
    * @throws IllegalArgumentException if kVLinear &lt;= 0, kALinear &lt;= 0, kVAngular &lt;= 0,
    *     kAAngular &lt;= 0, or trackwidth &lt;= 0.
-   * @see <a href="https://github.com/wpilibsuite/sysid">https://github.com/wpilibsuite/sysid</a>
+   * @see <a
+   *     href="https://github.com/wpilibsuite/allwpilib/tree/main/sysid">https://github.com/wpilibsuite/allwpilib/tree/main/sysid</a>
    */
   public static LinearSystem<N2, N2, N2> identifyDrivetrainSystem(
       double kVLinear, double kALinear, double kVAngular, double kAAngular, double trackwidth) {
diff --git a/wpimath/src/main/native/include/frc/system/plant/LinearSystemId.h b/wpimath/src/main/native/include/frc/system/plant/LinearSystemId.h
index f26c8a0376..49ed38bbfb 100644
--- a/wpimath/src/main/native/include/frc/system/plant/LinearSystemId.h
+++ b/wpimath/src/main/native/include/frc/system/plant/LinearSystemId.h
@@ -122,7 +122,7 @@ class WPILIB_DLLEXPORT LinearSystemId {
    * @param kA The acceleration gain, in volts/(unit/sec²).
    * @throws std::domain_error if kV < 0 or kA <= 0.
    * @see <a
-   * href="https://github.com/wpilibsuite/sysid">https://github.com/wpilibsuite/sysid</a>
+   * href="https://github.com/wpilibsuite/allwpilib/tree/main/sysid">https://github.com/wpilibsuite/allwpilib/tree/main/sysid</a>
    */
   template <typename Distance>
     requires std::same_as<units::meter, Distance> ||
@@ -165,7 +165,7 @@ class WPILIB_DLLEXPORT LinearSystemId {
    *
    * @throws std::domain_error if kV < 0 or kA <= 0.
    * @see <a
-   * href="https://github.com/wpilibsuite/sysid">https://github.com/wpilibsuite/sysid</a>
+   * href="https://github.com/wpilibsuite/allwpilib/tree/main/sysid">https://github.com/wpilibsuite/allwpilib/tree/main/sysid</a>
    */
   template <typename Distance>
     requires std::same_as<units::meter, Distance> ||
@@ -208,7 +208,7 @@ class WPILIB_DLLEXPORT LinearSystemId {
    * @throws domain_error if kVLinear <= 0, kALinear <= 0, kVAngular <= 0,
    *         or kAAngular <= 0.
    * @see <a
-   * href="https://github.com/wpilibsuite/sysid">https://github.com/wpilibsuite/sysid</a>
+   * href="https://github.com/wpilibsuite/allwpilib/tree/main/sysid">https://github.com/wpilibsuite/allwpilib/tree/main/sysid</a>
    */
   static constexpr LinearSystem<2, 2, 2> IdentifyDrivetrainSystem(
       decltype(1_V / 1_mps) kVLinear, decltype(1_V / 1_mps_sq) kALinear,
@@ -269,7 +269,7 @@ class WPILIB_DLLEXPORT LinearSystemId {
    * @throws domain_error if kVLinear <= 0, kALinear <= 0, kVAngular <= 0,
    *         kAAngular <= 0, or trackwidth <= 0.
    * @see <a
-   * href="https://github.com/wpilibsuite/sysid">https://github.com/wpilibsuite/sysid</a>
+   * href="https://github.com/wpilibsuite/allwpilib/tree/main/sysid">https://github.com/wpilibsuite/allwpilib/tree/main/sysid</a>
    */
   static constexpr LinearSystem<2, 2, 2> IdentifyDrivetrainSystem(
       decltype(1_V / 1_mps) kVLinear, decltype(1_V / 1_mps_sq) kALinear,
@@ -346,7 +346,7 @@ class WPILIB_DLLEXPORT LinearSystemId {
    * @param gearing Gear ratio from motor to output.
    * @throws std::domain_error if J <= 0 or gearing <= 0.
    * @see <a
-   * href="https://github.com/wpilibsuite/sysid">https://github.com/wpilibsuite/sysid</a>
+   * href="https://github.com/wpilibsuite/allwpilib/tree/main/sysid">https://github.com/wpilibsuite/allwpilib/tree/main/sysid</a>
    */
   static constexpr LinearSystem<2, 1, 2> DCMotorSystem(
       DCMotor motor, units::kilogram_square_meter_t J, double gearing) {