diff --git a/wpimath/src/test/java/edu/wpi/first/math/controller/DifferentialDriveAccelerationLimiterTest.java b/wpimath/src/test/java/edu/wpi/first/math/controller/DifferentialDriveAccelerationLimiterTest.java
index b23ee1ec0e..faf55634ad 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/controller/DifferentialDriveAccelerationLimiterTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/controller/DifferentialDriveAccelerationLimiterTest.java
@@ -231,7 +231,6 @@ class DifferentialDriveAccelerationLimiterTest {
               .times(xAccelLimiter)
               .plus(plant.getB().times(new MatBuilder<>(Nat.N2(), Nat.N1()).fill(12.0, 12.0)));
       final double a = (accels.get(0, 0) + accels.get(1, 0)) / 2.0;
-      System.out.println(a);
       assertTrue(Math.abs(a) > maxA);
       assertTrue(Math.abs(a) > -minA);
     }
diff --git a/wpimath/src/test/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimatorTest.java b/wpimath/src/test/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimatorTest.java
index 84ba7473b6..a353bc94a9 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimatorTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimatorTest.java
@@ -143,8 +143,6 @@ class DifferentialDrivePoseEstimatorTest {
 
     double t = 0.0;
 
-    System.out.print("time, est_x, est_y, est_theta, true_x, true_y, true_theta\n");
-
     final TreeMap<Double, Pose2d> visionUpdateQueue = new TreeMap<>();
 
     double maxError = Double.NEGATIVE_INFINITY;
@@ -191,16 +189,6 @@ class DifferentialDrivePoseEstimatorTest {
               leftDistanceMeters,
               rightDistanceMeters);
 
-      System.out.printf(
-          "%f, %f, %f, %f, %f, %f, %f\n",
-          t,
-          xHat.getX(),
-          xHat.getY(),
-          xHat.getRotation().getRadians(),
-          groundTruthState.poseMeters.getX(),
-          groundTruthState.poseMeters.getY(),
-          groundTruthState.poseMeters.getRotation().getRadians());
-
       double error =
           groundTruthState.poseMeters.getTranslation().getDistance(xHat.getTranslation());
       if (error > maxError) {
diff --git a/wpimath/src/test/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimatorTest.java b/wpimath/src/test/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimatorTest.java
index fcaebb7eba..3c99e91e52 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimatorTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimatorTest.java
@@ -151,8 +151,6 @@ class MecanumDrivePoseEstimatorTest {
 
     double t = 0.0;
 
-    System.out.print("time, est_x, est_y, est_theta, true_x, true_y, true_theta\n");
-
     final TreeMap<Double, Pose2d> visionUpdateQueue = new TreeMap<>();
 
     double maxError = Double.NEGATIVE_INFINITY;
@@ -200,16 +198,6 @@ class MecanumDrivePoseEstimatorTest {
                   .minus(trajectory.getInitialPose().getRotation()),
               wheelPositions);
 
-      System.out.printf(
-          "%f, %f, %f, %f, %f, %f, %f\n",
-          t,
-          xHat.getX(),
-          xHat.getY(),
-          xHat.getRotation().getRadians(),
-          groundTruthState.poseMeters.getX(),
-          groundTruthState.poseMeters.getY(),
-          groundTruthState.poseMeters.getRotation().getRadians());
-
       double error =
           groundTruthState.poseMeters.getTranslation().getDistance(xHat.getTranslation());
       if (error > maxError) {
diff --git a/wpimath/src/test/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimatorTest.java b/wpimath/src/test/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimatorTest.java
index 49679d4a3b..c4ac274c09 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimatorTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimatorTest.java
@@ -165,11 +165,6 @@ class SwerveDrivePoseEstimatorTest {
 
     double t = 0.0;
 
-    System.out.print(
-        "time, est_x, est_y, est_theta, true_x, true_y, true_theta, "
-            + "distance_1, distance_2, distance_3, distance_4, "
-            + "angle_1, angle_2, angle_3, angle_4\n");
-
     final TreeMap<Double, Pose2d> visionUpdateQueue = new TreeMap<>();
 
     double maxError = Double.NEGATIVE_INFINITY;
@@ -219,24 +214,6 @@ class SwerveDrivePoseEstimatorTest {
                   .minus(trajectory.getInitialPose().getRotation()),
               positions);
 
-      System.out.printf(
-          "%f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f\n",
-          t,
-          xHat.getX(),
-          xHat.getY(),
-          xHat.getRotation().getRadians(),
-          groundTruthState.poseMeters.getX(),
-          groundTruthState.poseMeters.getY(),
-          groundTruthState.poseMeters.getRotation().getRadians(),
-          positions[0].distanceMeters,
-          positions[1].distanceMeters,
-          positions[2].distanceMeters,
-          positions[3].distanceMeters,
-          positions[0].angle.getRadians(),
-          positions[1].angle.getRadians(),
-          positions[2].angle.getRadians(),
-          positions[3].angle.getRadians());
-
       double error =
           groundTruthState.poseMeters.getTranslation().getDistance(xHat.getTranslation());
       if (error > maxError) {