diff --git a/wpimath/src/main/native/cpp/estimator/SwerveDrivePoseEstimator.cpp b/wpimath/src/main/native/cpp/estimator/SwerveDrivePoseEstimator.cpp
new file mode 100644
index 0000000000..f2ed301c2a
--- /dev/null
+++ b/wpimath/src/main/native/cpp/estimator/SwerveDrivePoseEstimator.cpp
@@ -0,0 +1,12 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "frc/estimator/SwerveDrivePoseEstimator.h"
+
+namespace frc {
+
+template class EXPORT_TEMPLATE_DEFINE(WPILIB_DLLEXPORT)
+    SwerveDrivePoseEstimator<4>;
+
+}  // namespace frc
diff --git a/wpimath/src/main/native/cpp/estimator/UnscentedKalmanFilter.cpp b/wpimath/src/main/native/cpp/estimator/UnscentedKalmanFilter.cpp
new file mode 100644
index 0000000000..d5e869b6cb
--- /dev/null
+++ b/wpimath/src/main/native/cpp/estimator/UnscentedKalmanFilter.cpp
@@ -0,0 +1,14 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "frc/estimator/UnscentedKalmanFilter.h"
+
+namespace frc {
+
+template class EXPORT_TEMPLATE_DEFINE(WPILIB_DLLEXPORT)
+    UnscentedKalmanFilter<3, 3, 1>;
+template class EXPORT_TEMPLATE_DEFINE(WPILIB_DLLEXPORT)
+    UnscentedKalmanFilter<5, 3, 3>;
+
+}  // namespace frc
diff --git a/wpimath/src/main/native/cpp/kinematics/SwerveDriveKinematics.cpp b/wpimath/src/main/native/cpp/kinematics/SwerveDriveKinematics.cpp
new file mode 100644
index 0000000000..5e6cf287e6
--- /dev/null
+++ b/wpimath/src/main/native/cpp/kinematics/SwerveDriveKinematics.cpp
@@ -0,0 +1,12 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "frc/kinematics/SwerveDriveKinematics.h"
+
+namespace frc {
+
+template class EXPORT_TEMPLATE_DEFINE(WPILIB_DLLEXPORT)
+    SwerveDriveKinematics<4>;
+
+}  // namespace frc
diff --git a/wpimath/src/main/native/cpp/kinematics/SwerveDriveOdometry.cpp b/wpimath/src/main/native/cpp/kinematics/SwerveDriveOdometry.cpp
new file mode 100644
index 0000000000..7a9d065702
--- /dev/null
+++ b/wpimath/src/main/native/cpp/kinematics/SwerveDriveOdometry.cpp
@@ -0,0 +1,11 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "frc/kinematics/SwerveDriveOdometry.h"
+
+namespace frc {
+
+template class EXPORT_TEMPLATE_DEFINE(WPILIB_DLLEXPORT) SwerveDriveOdometry<4>;
+
+}  // namespace frc
diff --git a/wpimath/src/main/native/include/frc/estimator/SwerveDrivePoseEstimator.h b/wpimath/src/main/native/include/frc/estimator/SwerveDrivePoseEstimator.h
index 3fce99406f..16f8439ce8 100644
--- a/wpimath/src/main/native/include/frc/estimator/SwerveDrivePoseEstimator.h
+++ b/wpimath/src/main/native/include/frc/estimator/SwerveDrivePoseEstimator.h
@@ -6,6 +6,7 @@
 
 #include <limits>
 
+#include <wpi/SymbolExports.h>
 #include <wpi/array.h>
 #include <wpi/timestamp.h>
 
@@ -320,4 +321,7 @@ class SwerveDrivePoseEstimator {
   }
 };
 
+extern template class EXPORT_TEMPLATE_DECLARE(WPILIB_DLLEXPORT)
+    SwerveDrivePoseEstimator<4>;
+
 }  // namespace frc
diff --git a/wpimath/src/main/native/include/frc/estimator/UnscentedKalmanFilter.h b/wpimath/src/main/native/include/frc/estimator/UnscentedKalmanFilter.h
index 1c87b5e7a8..48c94c269a 100644
--- a/wpimath/src/main/native/include/frc/estimator/UnscentedKalmanFilter.h
+++ b/wpimath/src/main/native/include/frc/estimator/UnscentedKalmanFilter.h
@@ -6,6 +6,7 @@
 
 #include <functional>
 
+#include <wpi/SymbolExports.h>
 #include <wpi/array.h>
 
 #include "Eigen/Cholesky"
@@ -425,4 +426,9 @@ class UnscentedKalmanFilter {
   MerweScaledSigmaPoints<States> m_pts;
 };
 
+extern template class EXPORT_TEMPLATE_DECLARE(WPILIB_DLLEXPORT)
+    UnscentedKalmanFilter<3, 3, 1>;
+extern template class EXPORT_TEMPLATE_DECLARE(WPILIB_DLLEXPORT)
+    UnscentedKalmanFilter<5, 3, 3>;
+
 }  // namespace frc
diff --git a/wpimath/src/main/native/include/frc/kinematics/SwerveDriveKinematics.h b/wpimath/src/main/native/include/frc/kinematics/SwerveDriveKinematics.h
index 980109287a..3e605549e5 100644
--- a/wpimath/src/main/native/include/frc/kinematics/SwerveDriveKinematics.h
+++ b/wpimath/src/main/native/include/frc/kinematics/SwerveDriveKinematics.h
@@ -6,6 +6,7 @@
 
 #include <cstddef>
 
+#include <wpi/SymbolExports.h>
 #include <wpi/array.h>
 
 #include "Eigen/Core"
@@ -185,6 +186,10 @@ class SwerveDriveKinematics {
 
   mutable Translation2d m_previousCoR;
 };
+
+extern template class EXPORT_TEMPLATE_DECLARE(WPILIB_DLLEXPORT)
+    SwerveDriveKinematics<4>;
+
 }  // namespace frc
 
 #include "SwerveDriveKinematics.inc"
diff --git a/wpimath/src/main/native/include/frc/kinematics/SwerveDriveOdometry.h b/wpimath/src/main/native/include/frc/kinematics/SwerveDriveOdometry.h
index d1a49582a2..86a8d0b230 100644
--- a/wpimath/src/main/native/include/frc/kinematics/SwerveDriveOdometry.h
+++ b/wpimath/src/main/native/include/frc/kinematics/SwerveDriveOdometry.h
@@ -8,6 +8,7 @@
 #include <cstddef>
 #include <ctime>
 
+#include <wpi/SymbolExports.h>
 #include <wpi/timestamp.h>
 
 #include "SwerveDriveKinematics.h"
@@ -112,6 +113,9 @@ class SwerveDriveOdometry {
   Rotation2d m_gyroOffset;
 };
 
+extern template class EXPORT_TEMPLATE_DECLARE(WPILIB_DLLEXPORT)
+    SwerveDriveOdometry<4>;
+
 }  // namespace frc
 
 #include "SwerveDriveOdometry.inc"