diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileCommand.java
index 3bfdbaebf5..8e49706958 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileCommand.java
@@ -22,7 +22,6 @@ public class TrapezoidProfileCommand extends Command {
   private final Consumer<State> m_output;
   private final Supplier<State> m_goal;
   private final Supplier<State> m_currentState;
-  private final boolean m_newAPI; // TODO: Remove
   private final Timer m_timer = new Timer();
 
   /**
@@ -46,29 +45,6 @@ public class TrapezoidProfileCommand extends Command {
     m_output = requireNonNullParam(output, "output", "TrapezoidProfileCommand");
     m_goal = goal;
     m_currentState = currentState;
-    m_newAPI = true;
-    addRequirements(requirements);
-  }
-
-  /**
-   * Creates a new TrapezoidProfileCommand that will execute the given {@link TrapezoidProfile}.
-   * Output will be piped to the provided consumer function.
-   *
-   * @param profile The motion profile to execute.
-   * @param output The consumer for the profile output.
-   * @param requirements The subsystems required by this command.
-   * @deprecated The new constructor allows you to pass in a supplier for desired and current state.
-   *     This allows you to change goals at runtime.
-   */
-  @Deprecated(since = "2024", forRemoval = true)
-  @SuppressWarnings("this-escape")
-  public TrapezoidProfileCommand(
-      TrapezoidProfile profile, Consumer<State> output, Subsystem... requirements) {
-    m_profile = requireNonNullParam(profile, "profile", "TrapezoidProfileCommand");
-    m_output = requireNonNullParam(output, "output", "TrapezoidProfileCommand");
-    m_newAPI = false;
-    m_goal = null;
-    m_currentState = null;
     addRequirements(requirements);
   }
 
@@ -80,11 +56,7 @@ public class TrapezoidProfileCommand extends Command {
   @Override
   @SuppressWarnings("removal")
   public void execute() {
-    if (m_newAPI) {
-      m_output.accept(m_profile.calculate(m_timer.get(), m_currentState.get(), m_goal.get()));
-    } else {
-      m_output.accept(m_profile.calculate(m_timer.get()));
-    }
+    m_output.accept(m_profile.calculate(m_timer.get(), m_currentState.get(), m_goal.get()));
   }
 
   @Override
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/TrapezoidProfileCommand.h b/wpilibNewCommands/src/main/native/include/frc2/command/TrapezoidProfileCommand.h
index 837dda3e09..30ad9b7087 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/TrapezoidProfileCommand.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/TrapezoidProfileCommand.h
@@ -52,28 +52,6 @@ class TrapezoidProfileCommand
         m_goal(goal),
         m_currentState(currentState) {
     this->AddRequirements(requirements);
-    m_newAPI = true;
-  }
-
-  /**
-   * Creates a new TrapezoidProfileCommand that will execute the given
-   * TrapezoidalProfile. Output will be piped to the provided consumer function.
-   *
-   * @param profile      The motion profile to execute.
-   * @param output       The consumer for the profile output.
-   * @param requirements The list of requirements.
-   * @deprecated The new constructor allows you to pass in a supplier for
-   * desired and current state. This allows you to change goals at runtime.
-   */
-  [[deprecated(
-      "The new constructor allows you to pass in a supplier for desired and "
-      "current state. This allows you to change goals at runtime.")]]
-  TrapezoidProfileCommand(frc::TrapezoidProfile<Distance> profile,
-                          std::function<void(State)> output,
-                          Requirements requirements = {})
-      : m_profile(profile), m_output(output) {
-    this->AddRequirements(requirements);
-    m_newAPI = false;
   }
 
   void Initialize() override { m_timer.Restart(); }
@@ -93,7 +71,6 @@ class TrapezoidProfileCommand
   std::function<void(State)> m_output;
   std::function<State()> m_goal;
   std::function<State()> m_currentState;
-  bool m_newAPI;  // TODO: Remove
   frc::Timer m_timer;
 };