diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java
index fbd9973bb9..11241794cc 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java
@@ -446,14 +446,15 @@ public interface Command {
   default void setName(String name) {}
 
   /**
-   * Decorates this Command with a name. Is an inline function for #setName(String);
+   * Decorates this Command with a name.
    *
    * @param name name
    * @return the decorated Command
    */
-  default Command withName(String name) {
-    this.setName(name);
-    return this;
+  default WrapperCommand withName(String name) {
+    WrapperCommand wrapper = new WrapperCommand(Command.this) {};
+    wrapper.setName(name);
+    return wrapper;
   }
 
   /**
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandBase.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandBase.java
index 30b8686d2b..395322a996 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandBase.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandBase.java
@@ -56,12 +56,6 @@ public abstract class CommandBase implements Sendable, Command {
     SendableRegistry.setName(this, name);
   }
 
-  @Override
-  public CommandBase withName(String name) {
-    this.setName(name);
-    return this;
-  }
-
   /**
    * Gets the subsystem name of this Command.
    *
@@ -105,5 +99,8 @@ public abstract class CommandBase implements Sendable, Command {
         });
     builder.addBooleanProperty(
         ".isParented", () -> CommandScheduler.getInstance().isComposed(this), null);
+    builder.addStringProperty(
+        "interruptBehavior", () -> getInterruptionBehavior().toString(), null);
+    builder.addBooleanProperty("runsWhenDisabled", this::runsWhenDisabled, null);
   }
 }
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ConditionalCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ConditionalCommand.java
index 585047e93d..782f2179fe 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ConditionalCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ConditionalCommand.java
@@ -6,6 +6,7 @@ package edu.wpi.first.wpilibj2.command;
 
 import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
 
+import edu.wpi.first.util.sendable.SendableBuilder;
 import java.util.function.BooleanSupplier;
 
 /**
@@ -71,4 +72,21 @@ public class ConditionalCommand extends CommandBase {
   public boolean runsWhenDisabled() {
     return m_onTrue.runsWhenDisabled() && m_onFalse.runsWhenDisabled();
   }
+
+  @Override
+  public void initSendable(SendableBuilder builder) {
+    super.initSendable(builder);
+    builder.addStringProperty("onTrue", m_onTrue::getName, null);
+    builder.addStringProperty("onFalse", m_onFalse::getName, null);
+    builder.addStringProperty(
+        "selected",
+        () -> {
+          if (m_selectedCommand == null) {
+            return "null";
+          } else {
+            return m_selectedCommand.getName();
+          }
+        },
+        null);
+  }
 }
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelDeadlineGroup.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelDeadlineGroup.java
index 0687ed1a9c..2e62a9f08b 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelDeadlineGroup.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelDeadlineGroup.java
@@ -4,6 +4,7 @@
 
 package edu.wpi.first.wpilibj2.command;
 
+import edu.wpi.first.util.sendable.SendableBuilder;
 import java.util.Collections;
 import java.util.HashMap;
 import java.util.Map;
@@ -130,4 +131,11 @@ public class ParallelDeadlineGroup extends CommandGroupBase {
   public InterruptionBehavior getInterruptionBehavior() {
     return m_interruptBehavior;
   }
+
+  @Override
+  public void initSendable(SendableBuilder builder) {
+    super.initSendable(builder);
+
+    builder.addStringProperty("deadline", m_deadline::getName, null);
+  }
 }
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProxyCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProxyCommand.java
index 61bd8d2fde..ef6ca5b6ea 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProxyCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProxyCommand.java
@@ -6,6 +6,7 @@ package edu.wpi.first.wpilibj2.command;
 
 import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
 
+import edu.wpi.first.util.sendable.SendableBuilder;
 import java.util.function.Supplier;
 
 /**
@@ -36,6 +37,7 @@ public class ProxyCommand extends CommandBase {
    */
   public ProxyCommand(Command command) {
     this(() -> command);
+    setName("Proxy(" + command.getName() + ")");
   }
 
   @Override
@@ -73,4 +75,11 @@ public class ProxyCommand extends CommandBase {
   public boolean runsWhenDisabled() {
     return true;
   }
+
+  @Override
+  public void initSendable(SendableBuilder builder) {
+    super.initSendable(builder);
+    builder.addStringProperty(
+        "proxied", () -> m_command == null ? "null" : m_command.getName(), null);
+  }
 }
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RamseteCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RamseteCommand.java
index 8aedfc6d41..69e271b428 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RamseteCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RamseteCommand.java
@@ -14,6 +14,7 @@ import edu.wpi.first.math.kinematics.ChassisSpeeds;
 import edu.wpi.first.math.kinematics.DifferentialDriveKinematics;
 import edu.wpi.first.math.kinematics.DifferentialDriveWheelSpeeds;
 import edu.wpi.first.math.trajectory.Trajectory;
+import edu.wpi.first.util.sendable.SendableBuilder;
 import edu.wpi.first.wpilibj.Timer;
 import java.util.function.BiConsumer;
 import java.util.function.Supplier;
@@ -211,4 +212,11 @@ public class RamseteCommand extends CommandBase {
   public boolean isFinished() {
     return m_timer.hasElapsed(m_trajectory.getTotalTimeSeconds());
   }
+
+  @Override
+  public void initSendable(SendableBuilder builder) {
+    super.initSendable(builder);
+    builder.addDoubleProperty("leftVelocity", () -> m_prevSpeeds.leftMetersPerSecond, null);
+    builder.addDoubleProperty("rightVelocity", () -> m_prevSpeeds.rightMetersPerSecond, null);
+  }
 }
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RepeatCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RepeatCommand.java
index 3fcbfa7407..6de06c531f 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RepeatCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RepeatCommand.java
@@ -6,6 +6,8 @@ package edu.wpi.first.wpilibj2.command;
 
 import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
 
+import edu.wpi.first.util.sendable.SendableBuilder;
+
 /**
  * A command that runs another command repeatedly, restarting it when it ends, until this command is
  * interrupted. Command instances that are passed to it cannot be added to any other groups, or
@@ -31,6 +33,7 @@ public class RepeatCommand extends CommandBase {
     m_command = requireNonNullParam(command, "command", "RepeatCommand");
     CommandScheduler.getInstance().registerComposedCommands(command);
     m_requirements.addAll(command.getRequirements());
+    setName("Repeat(" + command.getName() + ")");
   }
 
   @Override
@@ -72,4 +75,10 @@ public class RepeatCommand extends CommandBase {
   public InterruptionBehavior getInterruptionBehavior() {
     return m_command.getInterruptionBehavior();
   }
+
+  @Override
+  public void initSendable(SendableBuilder builder) {
+    super.initSendable(builder);
+    builder.addStringProperty("command", m_command::getName, null);
+  }
 }
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SelectCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SelectCommand.java
index e7ed93404d..5305115197 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SelectCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SelectCommand.java
@@ -6,6 +6,7 @@ package edu.wpi.first.wpilibj2.command;
 
 import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
 
+import edu.wpi.first.util.sendable.SendableBuilder;
 import java.util.Map;
 import java.util.function.Supplier;
 
@@ -108,4 +109,12 @@ public class SelectCommand extends CommandBase {
   public InterruptionBehavior getInterruptionBehavior() {
     return m_interruptBehavior;
   }
+
+  @Override
+  public void initSendable(SendableBuilder builder) {
+    super.initSendable(builder);
+
+    builder.addStringProperty(
+        "selected", () -> m_selectedCommand == null ? "null" : m_selectedCommand.getName(), null);
+  }
 }
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.java
index 6de02e65f1..892f94ac2c 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.java
@@ -4,6 +4,7 @@
 
 package edu.wpi.first.wpilibj2.command;
 
+import edu.wpi.first.util.sendable.SendableBuilder;
 import java.util.ArrayList;
 import java.util.List;
 
@@ -104,4 +105,11 @@ public class SequentialCommandGroup extends CommandGroupBase {
   public InterruptionBehavior getInterruptionBehavior() {
     return m_interruptBehavior;
   }
+
+  @Override
+  public void initSendable(SendableBuilder builder) {
+    super.initSendable(builder);
+
+    builder.addIntegerProperty("index", () -> m_currentCommandIndex, null);
+  }
 }
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/WaitCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/WaitCommand.java
index e51d23ac0d..647e87e7f2 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/WaitCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/WaitCommand.java
@@ -4,6 +4,7 @@
 
 package edu.wpi.first.wpilibj2.command;
 
+import edu.wpi.first.util.sendable.SendableBuilder;
 import edu.wpi.first.util.sendable.SendableRegistry;
 import edu.wpi.first.wpilibj.Timer;
 
@@ -47,4 +48,10 @@ public class WaitCommand extends CommandBase {
   public boolean runsWhenDisabled() {
     return true;
   }
+
+  @Override
+  public void initSendable(SendableBuilder builder) {
+    super.initSendable(builder);
+    builder.addDoubleProperty("duration", () -> m_duration, null);
+  }
 }
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/WrapperCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/WrapperCommand.java
index 3ae055a874..c48871c5f4 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/WrapperCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/WrapperCommand.java
@@ -26,6 +26,8 @@ public abstract class WrapperCommand extends CommandBase {
   protected WrapperCommand(Command command) {
     CommandScheduler.getInstance().registerComposedCommands(command);
     m_command = command;
+    // copy the wrapped command's name
+    setName(command.getName());
   }
 
   /** The initial subroutine of a command. Called once when the command is initially scheduled. */
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/Command.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/Command.cpp
index b0b88e4a1b..b173ada496 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/Command.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/Command.cpp
@@ -105,8 +105,7 @@ CommandPtr Command::HandleInterrupt(std::function<void(void)> handler) && {
 }
 
 CommandPtr Command::WithName(std::string_view name) && {
-  SetName(name);
-  return std::move(*this).ToPtr();
+  return std::move(*this).ToPtr().WithName(name);
 }
 
 void Command::Schedule() {
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandBase.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandBase.cpp
index 4744dca021..416c78be15 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandBase.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandBase.cpp
@@ -64,4 +64,21 @@ void CommandBase::InitSendable(wpi::SendableBuilder& builder) {
           Cancel();
         }
       });
+  builder.AddBooleanProperty(
+      ".isParented", [this] { return IsComposed(); }, nullptr);
+  builder.AddStringProperty(
+      "interruptBehavior",
+      [this] {
+        switch (GetInterruptionBehavior()) {
+          case Command::InterruptionBehavior::kCancelIncoming:
+            return "kCancelIncoming";
+          case Command::InterruptionBehavior::kCancelSelf:
+            return "kCancelSelf";
+          default:
+            return "Invalid";
+        }
+      },
+      nullptr);
+  builder.AddBooleanProperty(
+      "runsWhenDisabled", [this] { return RunsWhenDisabled(); }, nullptr);
 }
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandPtr.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandPtr.cpp
index 0399e866b2..44150a297c 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandPtr.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandPtr.cpp
@@ -221,8 +221,9 @@ CommandPtr CommandPtr::HandleInterrupt(std::function<void(void)> handler) && {
 
 CommandPtr CommandPtr::WithName(std::string_view name) && {
   AssertValid();
-  m_ptr->SetName(name);
-  return std::move(*this);
+  WrapperCommand wrapper{std::move(m_ptr)};
+  wrapper.SetName(name);
+  return std::move(wrapper).ToPtr();
 }
 
 CommandBase* CommandPtr::get() const {
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/ConditionalCommand.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/ConditionalCommand.cpp
index 9de3ce9ae5..2610c96b78 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/ConditionalCommand.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/ConditionalCommand.cpp
@@ -4,6 +4,8 @@
 
 #include "frc2/command/ConditionalCommand.h"
 
+#include <wpi/sendable/SendableBuilder.h>
+
 using namespace frc2;
 
 ConditionalCommand::ConditionalCommand(std::unique_ptr<Command>&& onTrue,
@@ -50,3 +52,21 @@ bool ConditionalCommand::IsFinished() {
 bool ConditionalCommand::RunsWhenDisabled() const {
   return m_runsWhenDisabled;
 }
+
+void ConditionalCommand::InitSendable(wpi::SendableBuilder& builder) {
+  CommandBase::InitSendable(builder);
+  builder.AddStringProperty(
+      "onTrue", [this] { return m_onTrue->GetName(); }, nullptr);
+  builder.AddStringProperty(
+      "onFalse", [this] { return m_onFalse->GetName(); }, nullptr);
+  builder.AddStringProperty(
+      "selected",
+      [this] {
+        if (m_selectedCommand) {
+          return m_selectedCommand->GetName();
+        } else {
+          return std::string{"null"};
+        }
+      },
+      nullptr);
+}
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/ParallelDeadlineGroup.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/ParallelDeadlineGroup.cpp
index 93d42baad2..14c28c3a72 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/ParallelDeadlineGroup.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/ParallelDeadlineGroup.cpp
@@ -4,6 +4,8 @@
 
 #include "frc2/command/ParallelDeadlineGroup.h"
 
+#include <wpi/sendable/SendableBuilder.h>
+
 using namespace frc2;
 
 ParallelDeadlineGroup::ParallelDeadlineGroup(
@@ -93,3 +95,10 @@ void ParallelDeadlineGroup::SetDeadline(std::unique_ptr<Command>&& deadline) {
   AddRequirements(m_deadline->GetRequirements());
   m_runWhenDisabled &= m_deadline->RunsWhenDisabled();
 }
+
+void ParallelDeadlineGroup::InitSendable(wpi::SendableBuilder& builder) {
+  CommandBase::InitSendable(builder);
+
+  builder.AddStringProperty(
+      "deadline", [this] { return m_deadline->GetName(); }, nullptr);
+}
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/ProxyCommand.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/ProxyCommand.cpp
index 0fc7cdf602..cc1b815815 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/ProxyCommand.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/ProxyCommand.cpp
@@ -4,13 +4,17 @@
 
 #include "frc2/command/ProxyCommand.h"
 
+#include <wpi/sendable/SendableBuilder.h>
+
 using namespace frc2;
 
 ProxyCommand::ProxyCommand(wpi::unique_function<Command*()> supplier)
     : m_supplier(std::move(supplier)) {}
 
 ProxyCommand::ProxyCommand(Command* command)
-    : m_supplier([command] { return command; }) {}
+    : m_supplier([command] { return command; }) {
+  SetName(std::string{"Proxy("}.append(command->GetName()).append(")"));
+}
 
 ProxyCommand::ProxyCommand(std::unique_ptr<Command> command)
     : m_supplier([command = std::move(command)] { return command.get(); }) {}
@@ -35,3 +39,17 @@ bool ProxyCommand::IsFinished() {
   // do whatever we want -- like return true.
   return m_command == nullptr || !m_command->IsScheduled();
 }
+
+void ProxyCommand::InitSendable(wpi::SendableBuilder& builder) {
+  CommandBase::InitSendable(builder);
+  builder.AddStringProperty(
+      "proxied",
+      [this] {
+        if (m_command) {
+          return m_command->GetName();
+        } else {
+          return std::string{"null"};
+        }
+      },
+      nullptr);
+}
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/RamseteCommand.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/RamseteCommand.cpp
index 24f3922f58..d46cdd0af6 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/RamseteCommand.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/RamseteCommand.cpp
@@ -6,6 +6,8 @@
 
 #include <utility>
 
+#include <wpi/sendable/SendableBuilder.h>
+
 using namespace frc2;
 
 RamseteCommand::RamseteCommand(
@@ -158,3 +160,11 @@ void RamseteCommand::End(bool interrupted) {
 bool RamseteCommand::IsFinished() {
   return m_timer.HasElapsed(m_trajectory.TotalTime());
 }
+
+void RamseteCommand::InitSendable(wpi::SendableBuilder& builder) {
+  CommandBase::InitSendable(builder);
+  builder.AddDoubleProperty(
+      "leftVelocity", [this] { return m_prevSpeeds.left.value(); }, nullptr);
+  builder.AddDoubleProperty(
+      "rightVelocity", [this] { return m_prevSpeeds.right.value(); }, nullptr);
+}
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/RepeatCommand.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/RepeatCommand.cpp
index 9fcbe68711..319a7af46d 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/RepeatCommand.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/RepeatCommand.cpp
@@ -4,6 +4,8 @@
 
 #include "frc2/command/RepeatCommand.h"
 
+#include <wpi/sendable/SendableBuilder.h>
+
 using namespace frc2;
 
 RepeatCommand::RepeatCommand(std::unique_ptr<Command>&& command) {
@@ -11,6 +13,7 @@ RepeatCommand::RepeatCommand(std::unique_ptr<Command>&& command) {
   m_command = std::move(command);
   m_command->SetComposed(true);
   AddRequirements(m_command->GetRequirements());
+  SetName(std::string{"Repeat("}.append(m_command->GetName()).append(")"));
 }
 
 void RepeatCommand::Initialize() {
@@ -46,3 +49,9 @@ bool RepeatCommand::RunsWhenDisabled() const {
 Command::InterruptionBehavior RepeatCommand::GetInterruptionBehavior() const {
   return m_command->GetInterruptionBehavior();
 }
+
+void RepeatCommand::InitSendable(wpi::SendableBuilder& builder) {
+  CommandBase::InitSendable(builder);
+  builder.AddStringProperty(
+      "command", [this] { return m_command->GetName(); }, nullptr);
+}
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/SequentialCommandGroup.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/SequentialCommandGroup.cpp
index 532614e242..7888c1d175 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/SequentialCommandGroup.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/SequentialCommandGroup.cpp
@@ -4,6 +4,8 @@
 
 #include "frc2/command/SequentialCommandGroup.h"
 
+#include <wpi/sendable/SendableBuilder.h>
+
 using namespace frc2;
 
 SequentialCommandGroup::SequentialCommandGroup(
@@ -79,3 +81,9 @@ void SequentialCommandGroup::AddCommands(
     m_commands.emplace_back(std::move(command));
   }
 }
+
+void SequentialCommandGroup::InitSendable(wpi::SendableBuilder& builder) {
+  CommandBase::InitSendable(builder);
+  builder.AddIntegerProperty(
+      "index", [this] { return m_currentCommandIndex; }, nullptr);
+}
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/WaitCommand.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/WaitCommand.cpp
index da03540ac3..94b8b8af02 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/WaitCommand.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/WaitCommand.cpp
@@ -6,6 +6,7 @@
 
 #include <fmt/format.h>
 #include <frc/fmt/Units.h>
+#include <wpi/sendable/SendableBuilder.h>
 
 using namespace frc2;
 
@@ -29,3 +30,9 @@ bool WaitCommand::IsFinished() {
 bool WaitCommand::RunsWhenDisabled() const {
   return true;
 }
+
+void WaitCommand::InitSendable(wpi::SendableBuilder& builder) {
+  CommandBase::InitSendable(builder);
+  builder.AddDoubleProperty(
+      "duration", [this] { return m_duration.value(); }, nullptr);
+}
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/WrapperCommand.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/WrapperCommand.cpp
index ff31b7261f..f7928c964e 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/WrapperCommand.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/WrapperCommand.cpp
@@ -12,6 +12,8 @@ WrapperCommand::WrapperCommand(std::unique_ptr<Command>&& command) {
   CommandScheduler::GetInstance().RequireUngrouped(command.get());
   m_command = std::move(command);
   m_command->SetComposed(true);
+  // copy the wrapped command's name
+  SetName(m_command->GetName());
 }
 
 void WrapperCommand::Initialize() {
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/Command.h b/wpilibNewCommands/src/main/native/include/frc2/command/Command.h
index e1f145d2e9..b657f3d649 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/Command.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/Command.h
@@ -282,8 +282,7 @@ safe) semantics.
   [[nodiscard]] CommandPtr HandleInterrupt(std::function<void()> handler) &&;
 
   /**
-   * Decorates this Command with a name. Is an inline function for
-   * #SetName(std::string_view);
+   * Decorates this Command with a name.
    *
    * @param name name
    * @return the decorated Command
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/ConditionalCommand.h b/wpilibNewCommands/src/main/native/include/frc2/command/ConditionalCommand.h
index 61c5d1ddc3..5957950c71 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/ConditionalCommand.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/ConditionalCommand.h
@@ -73,6 +73,8 @@ class ConditionalCommand
 
   bool RunsWhenDisabled() const override;
 
+  void InitSendable(wpi::SendableBuilder& builder) override;
+
  private:
   std::unique_ptr<Command> m_onTrue;
   std::unique_ptr<Command> m_onFalse;
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/ParallelDeadlineGroup.h b/wpilibNewCommands/src/main/native/include/frc2/command/ParallelDeadlineGroup.h
index d408867210..cfe4b3ef51 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/ParallelDeadlineGroup.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/ParallelDeadlineGroup.h
@@ -96,6 +96,8 @@ class ParallelDeadlineGroup
 
   Command::InterruptionBehavior GetInterruptionBehavior() const override;
 
+  void InitSendable(wpi::SendableBuilder& builder) override;
+
  private:
   void AddCommands(std::vector<std::unique_ptr<Command>>&& commands) final;
 
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/ProxyCommand.h b/wpilibNewCommands/src/main/native/include/frc2/command/ProxyCommand.h
index f553f18776..b4a00a5221 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/ProxyCommand.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/ProxyCommand.h
@@ -61,6 +61,8 @@ class ProxyCommand : public CommandHelper<CommandBase, ProxyCommand> {
 
   bool IsFinished() override;
 
+  void InitSendable(wpi::SendableBuilder& builder) override;
+
  private:
   wpi::unique_function<Command*()> m_supplier;
   Command* m_command = nullptr;
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/RamseteCommand.h b/wpilibNewCommands/src/main/native/include/frc2/command/RamseteCommand.h
index c80589ccb8..d375e11ff6 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/RamseteCommand.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/RamseteCommand.h
@@ -174,6 +174,8 @@ class RamseteCommand : public CommandHelper<CommandBase, RamseteCommand> {
 
   bool IsFinished() override;
 
+  void InitSendable(wpi::SendableBuilder& builder) override;
+
  private:
   frc::Trajectory m_trajectory;
   std::function<frc::Pose2d()> m_pose;
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/RepeatCommand.h b/wpilibNewCommands/src/main/native/include/frc2/command/RepeatCommand.h
index e0d2ab2e2c..5d353b99a8 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/RepeatCommand.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/RepeatCommand.h
@@ -70,6 +70,8 @@ class RepeatCommand : public CommandHelper<CommandBase, RepeatCommand> {
 
   Command::InterruptionBehavior GetInterruptionBehavior() const override;
 
+  void InitSendable(wpi::SendableBuilder& builder) override;
+
  private:
   std::unique_ptr<Command> m_command;
   bool m_ended;
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/SelectCommand.h b/wpilibNewCommands/src/main/native/include/frc2/command/SelectCommand.h
index d35f2f4d02..6b0852b011 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/SelectCommand.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/SelectCommand.h
@@ -10,11 +10,14 @@
 #endif
 
 #include <memory>
+#include <string>
 #include <type_traits>
 #include <unordered_map>
 #include <utility>
 #include <vector>
 
+#include <wpi/sendable/SendableBuilder.h>
+
 #include "frc2/command/CommandBase.h"
 #include "frc2/command/PrintCommand.h"
 
@@ -122,6 +125,21 @@ class SelectCommand : public CommandHelper<CommandBase, SelectCommand<Key>> {
     return m_interruptBehavior;
   }
 
+  void InitSendable(wpi::SendableBuilder& builder) override {
+    CommandBase::InitSendable(builder);
+
+    builder.AddStringProperty(
+        "selected",
+        [this] {
+          if (m_selectedCommand) {
+            return m_selectedCommand->GetName();
+          } else {
+            return std::string{"null"};
+          }
+        },
+        nullptr);
+  }
+
  protected:
   std::unique_ptr<Command> TransferOwnership() && override {
     return std::make_unique<SelectCommand>(std::move(*this));
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/SequentialCommandGroup.h b/wpilibNewCommands/src/main/native/include/frc2/command/SequentialCommandGroup.h
index 7bf2a68b08..ba85b6a37e 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/SequentialCommandGroup.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/SequentialCommandGroup.h
@@ -91,6 +91,8 @@ class SequentialCommandGroup
 
   Command::InterruptionBehavior GetInterruptionBehavior() const override;
 
+  void InitSendable(wpi::SendableBuilder& builder) override;
+
  private:
   void AddCommands(std::vector<std::unique_ptr<Command>>&& commands) final;
 
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/WaitCommand.h b/wpilibNewCommands/src/main/native/include/frc2/command/WaitCommand.h
index 4670d53f71..54eddfbe70 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/WaitCommand.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/WaitCommand.h
@@ -40,6 +40,8 @@ class WaitCommand : public CommandHelper<CommandBase, WaitCommand> {
 
   bool RunsWhenDisabled() const override;
 
+  void InitSendable(wpi::SendableBuilder& builder) override;
+
  protected:
   frc::Timer m_timer;
 
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandDecoratorTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandDecoratorTest.java
index 4296beeb62..392c23ce08 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandDecoratorTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandDecoratorTest.java
@@ -291,4 +291,12 @@ class CommandDecoratorTest extends CommandTestBase {
       assertEquals(2, second.get());
     }
   }
+
+  @Test
+  void withNameTest() {
+    InstantCommand command = new InstantCommand();
+    String name = "Named";
+    Command named = command.withName(name);
+    assertEquals(name, named.getName());
+  }
 }
diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/CommandDecoratorTest.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/CommandDecoratorTest.cpp
index 3c69fab10e..5ab184cbc9 100644
--- a/wpilibNewCommands/src/test/native/cpp/frc2/command/CommandDecoratorTest.cpp
+++ b/wpilibNewCommands/src/test/native/cpp/frc2/command/CommandDecoratorTest.cpp
@@ -198,3 +198,10 @@ TEST_F(CommandDecoratorTest, HandleInterrupt) {
   // if `second == 1`, the second lambda ran before the first one
   EXPECT_EQ(2, second);
 }
+
+TEST_F(CommandDecoratorTest, WithName) {
+  InstantCommand command;
+  std::string name{"Named"};
+  CommandPtr named = std::move(command).WithName(name);
+  EXPECT_EQ(name, named.get()->GetName());
+}