diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 995a2ac..d96a0f5 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -6,147 +6,109 @@ jobs:
   build-linux:
     name: "Build - Linux"
     runs-on: ubuntu-latest
-    container: wpilib/ubuntu-base:22.04
+    container: wpilib/ubuntu-base:24.04
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
         with:
           submodules: true
 
       - name: Build
         run: ./gradlew build
 
-      - uses: actions/upload-artifact@v4
+      - uses: actions/upload-artifact@v7
         with:
           name: Linux
           path: build/allOutputs
 
-  build-linux-arm32:
-    name: "Build - Linux Arm32"
-    runs-on: ubuntu-latest
-    container: wpilib/raspbian-cross-ubuntu:bullseye-22.04
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          submodules: true
-
-      - name: Build
-        run: ./gradlew build -Pforcecrossbuild=linux-arm32
-
-      - uses: actions/upload-artifact@v4
-        with:
-          name: Linux Arm32
-          path: build/allOutputs
-
   build-linux-arm64:
     name: "Build - Linux Arm64"
     runs-on: ubuntu-latest
-    container: wpilib/aarch64-cross-ubuntu:bullseye-22.04
+    container: wpilib/aarch64-cross-ubuntu:2027-bookworm-24.04
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
         with:
           submodules: true
 
       - name: Build
         run: ./gradlew build -Pforcecrossbuild=linux-arm64
 
-      - uses: actions/upload-artifact@v4
+      - uses: actions/upload-artifact@v7
         with:
           name: Linux Arm64
           path: build/allOutputs
 
-  build-linux-athena:
-    name: "Build - Linux Athena"
-    runs-on: ubuntu-latest
-    container: wpilib/roborio-cross-ubuntu:2024-22.04
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          submodules: true
-
-      - name: Build
-        run: ./gradlew build -Pforcecrossbuild=linux-athena
-
-      - uses: actions/upload-artifact@v4
-        with:
-          name: Linux Athena
-          path: build/allOutputs
-
   build-windows:
     strategy:
       fail-fast: false
       matrix:
         include:
           - artifact-name: Win64
-            architecture: x64
-            vc: vcvars64.bat
-          - artifact-name: Win32
-            architecture: x86
-            vc: vcvars32.bat
+            vc: amd64
           - artifact-name: WinArm64
-            architecture: x64
-            vc: vcvarsamd64_arm64.bat
+            vc: amd64_arm64
             build-options: "-Pforcecrossbuild=windows-arm64"
     name: "Build - ${{ matrix.artifact-name }}"
-    runs-on: windows-2019
+    runs-on: windows-latest
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
         with:
           submodules: true
 
-      - uses: actions/setup-java@v4
+      - uses: actions/setup-java@v5
         with:
-          java-version: 11
-          distribution: 'zulu'
-          architecture: ${{ matrix.architecture }}
+          java-version: 25
+          distribution: 'temurin'
 
       - uses: ilammy/setup-nasm@v1
 
+      - uses: ilammy/msvc-dev-cmd@v1.13.0
+        with:
+          arch: ${{ matrix.vc }}
+
       - name: Build with Gradle
-        run: |
-          @call "C:\\Program Files (x86)\\Microsoft Visual Studio\\2019\\Enterprise\\VC\\Auxiliary\\Build\\${{ matrix.vc }}"
-          gradlew build ${{ matrix.build-options }}
+        run: gradlew build ${{ matrix.build-options }}
         shell: cmd
 
-      - uses: actions/upload-artifact@v4
+      - uses: actions/upload-artifact@v7
         with:
           name: ${{ matrix.artifact-name }}
           path: build/allOutputs
 
   build-macos:
     env:
-      MACOSX_DEPLOYMENT_TARGET: 10.14
+      MACOSX_DEPLOYMENT_TARGET: 11
     name: "Build - macOS"
-    runs-on: macos-13
+    runs-on: macos-15
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
         with:
           submodules: true
 
       - name: Build
         run: ./gradlew build
 
-      - uses: actions/upload-artifact@v4
+      - uses: actions/upload-artifact@v7
         with:
           name: macOS
           path: build/allOutputs
 
   combine:
     name: Combine
-    needs: [ build-linux, build-windows, build-macos, build-linux-athena, build-linux-arm32, build-linux-arm64 ]
+    needs: [ build-linux, build-windows, build-macos, build-linux-arm64 ]
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
         with:
           repository: wpilibsuite/build-tools
-      - uses: actions/download-artifact@v4
+      - uses: actions/download-artifact@v8
         with:
           path: combiner/products/build/allOutputs
       - name: Flatten Artifacts
         run: rsync -a --delete combiner/products/build/allOutputs/*/* combiner/products/build/allOutputs/
-      - uses: actions/setup-java@v4
+      - uses: actions/setup-java@v5
         with:
-          java-version: 11
-          distribution: 'zulu'
+          java-version: 25
+          distribution: 'temurin'
       - name: Combine
         if: |
           !startsWith(github.ref, 'refs/tags/v')
@@ -163,7 +125,7 @@ jobs:
           RUN_AZURE_ARTIFACTORY_RELEASE: 'TRUE'
           ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
           ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
-      - uses: actions/upload-artifact@v4
+      - uses: actions/upload-artifact@v7
         with:
           name: Maven
           path: ~/releases
diff --git a/build.gradle b/build.gradle
index 59175b7..7a1d758 100644
--- a/build.gradle
+++ b/build.gradle
@@ -2,11 +2,11 @@ import org.gradle.internal.os.OperatingSystem
 
 plugins {
   id "maven-publish"
-  id "de.undercouch.download" version "5.4.0"
+  id "de.undercouch.download" version "5.6.0"
 }
 
 // Project Version
-ext.pub_version = "0.105-1"
+ext.pub_version = "2027-0.120-1"
 
 static def get_platform() {
   def platform
@@ -15,8 +15,6 @@ static def get_platform() {
 
   if (os_arch == 'amd64') {
     os_arch = 'x86_64'
-  } else if (os_arch == 'i386') {
-    os_arch = 'x86'
   } else if (os_arch == 'aarch64' || os_arch == 'arm64') {
     os_arch = 'arm64'
   }
@@ -35,20 +33,12 @@ static def get_platform() {
 }
 
 static def get_platform_path(platform) {
-  if (platform == "linux-athena") {
-    return "linux/athena"
-  } else if (platform == "linux-arm32") {
-    return "linux/arm32"
-  } else if (platform == "linux-arm64") {
+  if (platform == "linux-arm64") {
     return "linux/arm64"
-  } else if (platform == "linux-x86") {
-    return "linux/x86"
   } else if (platform == "linux-x86_64") {
     return "linux/x86-64"
   } else if (platform == "osx-universal") {
     return "osx/universal"
-  } else if (platform == "windows-x86") {
-    return "windows/x86"
   } else if (platform == "windows-x86_64") {
     return "windows/x86-64"
   } else if (platform == "windows-arm64") {
@@ -116,5 +106,5 @@ task build {
 apply from: "publish.gradle"
 
 wrapper {
-    gradleVersion = '8.5'
+    gradleVersion = '9.4.1'
 }
diff --git a/cmake/aarch64-bullseye-gnu.toolchain.cmake b/cmake/aarch64-bullseye-gnu.toolchain.cmake
deleted file mode 100644
index a4b1add..0000000
--- a/cmake/aarch64-bullseye-gnu.toolchain.cmake
+++ /dev/null
@@ -1,5 +0,0 @@
-set(CMAKE_SYSTEM_PROCESSOR aarch64)
-set(GCC_COMPILER_VERSION "" CACHE STRING "GCC Compiler version")
-set(GNU_MACHINE "aarch64-bullseye-linux-gnu" CACHE STRING "GNU compiler triple")
-set(ARM_LINUX_SYSROOT /usr/local/sys-root)
-include("${CMAKE_CURRENT_LIST_DIR}/arm.toolchain.cmake")
diff --git a/cmake/arm-frc-gnueabi.toolchain.cmake b/cmake/arm-frc-gnueabi.toolchain.cmake
deleted file mode 100644
index 32f164d..0000000
--- a/cmake/arm-frc-gnueabi.toolchain.cmake
+++ /dev/null
@@ -1,4 +0,0 @@
-set(GCC_COMPILER_VERSION "" CACHE STRING "GCC Compiler version")
-set(GNU_MACHINE "arm-frc2024-linux-gnueabi" CACHE STRING "GNU compiler triple")
-set(SOFTFP yes)
-include("${CMAKE_CURRENT_LIST_DIR}/arm.toolchain.cmake")
diff --git a/cmake/arm-pi-gnueabihf.toolchain.cmake b/cmake/arm-pi-gnueabihf.toolchain.cmake
deleted file mode 100644
index 3b9a016..0000000
--- a/cmake/arm-pi-gnueabihf.toolchain.cmake
+++ /dev/null
@@ -1,98 +0,0 @@
-set(GCC_COMPILER_VERSION "" CACHE STRING "GCC Compiler version")
-set(GNU_MACHINE "armv6-bullseye-linux-gnueabi" CACHE STRING "GNU compiler triple")
-
-if(COMMAND toolchain_save_config)
-  return() # prevent recursive call
-endif()
-
-set(CMAKE_SYSTEM_NAME Linux)
-set(CMAKE_SYSTEM_VERSION 1)
-if(NOT DEFINED CMAKE_SYSTEM_PROCESSOR)
-  set(CMAKE_SYSTEM_PROCESSOR arm)
-else()
-  #message("CMAKE_SYSTEM_PROCESSOR=${CMAKE_SYSTEM_PROCESSOR}")
-endif()
-
-include("${CMAKE_CURRENT_LIST_DIR}/gnu.toolchain.cmake")
-
-if(CMAKE_SYSTEM_PROCESSOR STREQUAL arm AND NOT ARM_IGNORE_FP)
-  set(FLOAT_ABI_SUFFIX "")
-  if(NOT SOFTFP)
-    set(FLOAT_ABI_SUFFIX "hf")
-  endif()
-endif()
-
-if(NOT "x${GCC_COMPILER_VERSION}" STREQUAL "x")
-  set(__GCC_VER_SUFFIX "-${GCC_COMPILER_VERSION}")
-endif()
-
-if(NOT DEFINED CMAKE_C_COMPILER)
-  find_program(CMAKE_C_COMPILER NAMES ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-gcc${__GCC_VER_SUFFIX})
-else()
-  #message(WARNING "CMAKE_C_COMPILER=${CMAKE_C_COMPILER} is defined")
-endif()
-if(NOT DEFINED CMAKE_CXX_COMPILER)
-  find_program(CMAKE_CXX_COMPILER NAMES ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-g++${__GCC_VER_SUFFIX})
-else()
-  #message(WARNING "CMAKE_CXX_COMPILER=${CMAKE_CXX_COMPILER} is defined")
-endif()
-if(NOT DEFINED CMAKE_LINKER)
-  find_program(CMAKE_LINKER NAMES ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-ld${__GCC_VER_SUFFIX} ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-ld)
-else()
-  #message(WARNING "CMAKE_LINKER=${CMAKE_LINKER} is defined")
-endif()
-if(NOT DEFINED CMAKE_AR)
-  find_program(CMAKE_AR NAMES ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-ar${__GCC_VER_SUFFIX} ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-ar)
-else()
-  #message(WARNING "CMAKE_AR=${CMAKE_AR} is defined")
-endif()
-
-if(NOT DEFINED ARM_LINUX_SYSROOT AND DEFINED GNU_MACHINE)
-  set(ARM_LINUX_SYSROOT /usr/local/sys-root)
-endif()
-
-if(NOT DEFINED CMAKE_CXX_FLAGS)
-  set(CMAKE_CXX_FLAGS           "" CACHE INTERNAL "")
-  set(CMAKE_C_FLAGS             "" CACHE INTERNAL "")
-  set(CMAKE_SHARED_LINKER_FLAGS "" CACHE INTERNAL "")
-  set(CMAKE_MODULE_LINKER_FLAGS "" CACHE INTERNAL "")
-  set(CMAKE_EXE_LINKER_FLAGS    "" CACHE INTERNAL "")
-
-  set(CMAKE_CXX_FLAGS           "${CMAKE_CXX_FLAGS} -fdata-sections -Wa,--noexecstack -fsigned-char -Wno-psabi")
-  set(CMAKE_C_FLAGS             "${CMAKE_C_FLAGS} -fdata-sections -Wa,--noexecstack -fsigned-char -Wno-psabi")
-  if(CMAKE_SYSTEM_PROCESSOR STREQUAL arm)
-    set(CMAKE_EXE_LINKER_FLAGS    "${CMAKE_EXE_LINKER_FLAGS} -Wl,-z,nocopyreloc")
-  endif()
-  if(CMAKE_SYSTEM_PROCESSOR STREQUAL arm)
-    set(ARM_LINKER_FLAGS "-Wl,--fix-cortex-a8 -Wl,--no-undefined -Wl,--gc-sections -Wl,-z,noexecstack -Wl,-z,relro -Wl,-z,now")
-  elseif(CMAKE_SYSTEM_PROCESSOR STREQUAL aarch64)
-    set(ARM_LINKER_FLAGS "-Wl,--no-undefined -Wl,--gc-sections -Wl,-z,noexecstack -Wl,-z,relro -Wl,-z,now")
-  endif()
-  set(CMAKE_SHARED_LINKER_FLAGS "${ARM_LINKER_FLAGS} ${CMAKE_SHARED_LINKER_FLAGS}")
-  set(CMAKE_MODULE_LINKER_FLAGS "${ARM_LINKER_FLAGS} ${CMAKE_MODULE_LINKER_FLAGS}")
-  set(CMAKE_EXE_LINKER_FLAGS    "${ARM_LINKER_FLAGS} ${CMAKE_EXE_LINKER_FLAGS}")
-else()
-  #message(WARNING "CMAKE_CXX_FLAGS='${CMAKE_CXX_FLAGS}' is defined")
-endif()
-
-if(USE_NEON)
-  message(WARNING "You use obsolete variable USE_NEON to enable NEON instruction set. Use -DENABLE_NEON=ON instead." )
-  set(ENABLE_NEON TRUE)
-elseif(USE_VFPV3)
-  message(WARNING "You use obsolete variable USE_VFPV3 to enable VFPV3 instruction set. Use -DENABLE_VFPV3=ON instead." )
-  set(ENABLE_VFPV3 TRUE)
-endif()
-
-set(CMAKE_FIND_ROOT_PATH ${CMAKE_FIND_ROOT_PATH} ${ARM_LINUX_SYSROOT})
-
-if(EXISTS ${CUDA_TOOLKIT_ROOT_DIR})
-  set(CMAKE_FIND_ROOT_PATH ${CMAKE_FIND_ROOT_PATH} ${CUDA_TOOLKIT_ROOT_DIR})
-endif()
-
-set(TOOLCHAIN_CONFIG_VARS ${TOOLCHAIN_CONFIG_VARS}
-    ARM_LINUX_SYSROOT
-    ENABLE_NEON
-    ENABLE_VFPV3
-    CUDA_TOOLKIT_ROOT_DIR
-)
-toolchain_save_config()
diff --git a/cmake/arm.toolchain.cmake b/cmake/arm.toolchain.cmake
deleted file mode 100644
index 184997f..0000000
--- a/cmake/arm.toolchain.cmake
+++ /dev/null
@@ -1,97 +0,0 @@
-if(COMMAND toolchain_save_config)
-  return() # prevent recursive call
-endif()
-
-set(CMAKE_SYSTEM_NAME Linux)
-set(CMAKE_SYSTEM_VERSION 1)
-if(NOT DEFINED CMAKE_SYSTEM_PROCESSOR)
-  set(CMAKE_SYSTEM_PROCESSOR arm)
-else()
-  #message("CMAKE_SYSTEM_PROCESSOR=${CMAKE_SYSTEM_PROCESSOR}")
-endif()
-
-include("${CMAKE_CURRENT_LIST_DIR}/gnu.toolchain.cmake")
-
-if(CMAKE_SYSTEM_PROCESSOR STREQUAL arm AND NOT ARM_IGNORE_FP)
-  set(FLOAT_ABI_SUFFIX "")
-  if(NOT SOFTFP)
-    set(FLOAT_ABI_SUFFIX "hf")
-  endif()
-endif()
-
-if(NOT "x${GCC_COMPILER_VERSION}" STREQUAL "x")
-  set(__GCC_VER_SUFFIX "-${GCC_COMPILER_VERSION}")
-endif()
-
-if(NOT DEFINED CMAKE_C_COMPILER)
-  find_program(CMAKE_C_COMPILER NAMES ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-gcc${__GCC_VER_SUFFIX})
-else()
-  #message(WARNING "CMAKE_C_COMPILER=${CMAKE_C_COMPILER} is defined")
-endif()
-if(NOT DEFINED CMAKE_CXX_COMPILER)
-  find_program(CMAKE_CXX_COMPILER NAMES ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-g++${__GCC_VER_SUFFIX})
-else()
-  #message(WARNING "CMAKE_CXX_COMPILER=${CMAKE_CXX_COMPILER} is defined")
-endif()
-if(NOT DEFINED CMAKE_LINKER)
-  find_program(CMAKE_LINKER NAMES ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-ld${__GCC_VER_SUFFIX} ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-ld)
-else()
-  #message(WARNING "CMAKE_LINKER=${CMAKE_LINKER} is defined")
-endif()
-if(NOT DEFINED CMAKE_AR)
-  find_program(CMAKE_AR NAMES ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-ar${__GCC_VER_SUFFIX} ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-ar)
-else()
-  #message(WARNING "CMAKE_AR=${CMAKE_AR} is defined")
-endif()
-
-if(NOT DEFINED ARM_LINUX_SYSROOT AND DEFINED GNU_MACHINE)
-  set(ARM_LINUX_SYSROOT /usr/${GNU_MACHINE}${FLOAT_ABI_SUFFIX})
-endif()
-
-if(NOT DEFINED CMAKE_CXX_FLAGS)
-  set(CMAKE_CXX_FLAGS           "" CACHE INTERNAL "")
-  set(CMAKE_C_FLAGS             "" CACHE INTERNAL "")
-  set(CMAKE_SHARED_LINKER_FLAGS "" CACHE INTERNAL "")
-  set(CMAKE_MODULE_LINKER_FLAGS "" CACHE INTERNAL "")
-  set(CMAKE_EXE_LINKER_FLAGS    "" CACHE INTERNAL "")
-
-  set(CMAKE_CXX_FLAGS           "${CMAKE_CXX_FLAGS} -fdata-sections -Wa,--noexecstack -fsigned-char -Wno-psabi")
-  set(CMAKE_C_FLAGS             "${CMAKE_C_FLAGS} -fdata-sections -Wa,--noexecstack -fsigned-char -Wno-psabi")
-  if(CMAKE_SYSTEM_PROCESSOR STREQUAL arm)
-    set(CMAKE_CXX_FLAGS           "-mthumb ${CMAKE_CXX_FLAGS}")
-    set(CMAKE_C_FLAGS             "-mthumb ${CMAKE_C_FLAGS}")
-    set(CMAKE_EXE_LINKER_FLAGS    "${CMAKE_EXE_LINKER_FLAGS} -Wl,-z,nocopyreloc")
-  endif()
-  if(CMAKE_SYSTEM_PROCESSOR STREQUAL arm)
-    set(ARM_LINKER_FLAGS "-Wl,--fix-cortex-a8 -Wl,--no-undefined -Wl,--gc-sections -Wl,-z,noexecstack -Wl,-z,relro -Wl,-z,now")
-  elseif(CMAKE_SYSTEM_PROCESSOR STREQUAL aarch64)
-    set(ARM_LINKER_FLAGS "-Wl,--no-undefined -Wl,--gc-sections -Wl,-z,noexecstack -Wl,-z,relro -Wl,-z,now")
-  endif()
-  set(CMAKE_SHARED_LINKER_FLAGS "${ARM_LINKER_FLAGS} ${CMAKE_SHARED_LINKER_FLAGS}")
-  set(CMAKE_MODULE_LINKER_FLAGS "${ARM_LINKER_FLAGS} ${CMAKE_MODULE_LINKER_FLAGS}")
-  set(CMAKE_EXE_LINKER_FLAGS    "${ARM_LINKER_FLAGS} ${CMAKE_EXE_LINKER_FLAGS}")
-else()
-  #message(WARNING "CMAKE_CXX_FLAGS='${CMAKE_CXX_FLAGS}' is defined")
-endif()
-
-if(USE_NEON)
-  message(WARNING "You use obsolete variable USE_NEON to enable NEON instruction set. Use -DENABLE_NEON=ON instead." )
-  set(ENABLE_NEON TRUE)
-elseif(USE_VFPV3)
-  message(WARNING "You use obsolete variable USE_VFPV3 to enable VFPV3 instruction set. Use -DENABLE_VFPV3=ON instead." )
-  set(ENABLE_VFPV3 TRUE)
-endif()
-
-set(CMAKE_FIND_ROOT_PATH ${CMAKE_FIND_ROOT_PATH} ${ARM_LINUX_SYSROOT})
-
-if(EXISTS ${CUDA_TOOLKIT_ROOT_DIR})
-  set(CMAKE_FIND_ROOT_PATH ${CMAKE_FIND_ROOT_PATH} ${CUDA_TOOLKIT_ROOT_DIR})
-endif()
-
-set(TOOLCHAIN_CONFIG_VARS ${TOOLCHAIN_CONFIG_VARS}
-    ARM_LINUX_SYSROOT
-    ENABLE_NEON
-    ENABLE_VFPV3
-    CUDA_TOOLKIT_ROOT_DIR
-)
-toolchain_save_config()
diff --git a/cmake/gnu.toolchain.cmake b/cmake/gnu.toolchain.cmake
deleted file mode 100644
index 64258e6..0000000
--- a/cmake/gnu.toolchain.cmake
+++ /dev/null
@@ -1,134 +0,0 @@
-cmake_minimum_required(VERSION 3.5)
-
-# load settings in case of "try compile"
-set(TOOLCHAIN_CONFIG_FILE "${CMAKE_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/toolchain.config.cmake")
-get_property(__IN_TRY_COMPILE GLOBAL PROPERTY IN_TRY_COMPILE)
-if(__IN_TRY_COMPILE)
-  include("${CMAKE_CURRENT_SOURCE_DIR}/../toolchain.config.cmake" OPTIONAL) # CMAKE_BINARY_DIR is different
-  macro(toolchain_save_config)
-    # nothing
-  endmacro()
-else()
-  macro(toolchain_save_config)
-    set(__config "#message(\"Load TOOLCHAIN config...\")\n")
-    get_cmake_property(__variableNames VARIABLES)
-    set(__vars_list ${ARGN})
-    list(APPEND __vars_list
-        ${TOOLCHAIN_CONFIG_VARS}
-        CMAKE_SYSTEM_NAME
-        CMAKE_SYSTEM_VERSION
-        CMAKE_SYSTEM_PROCESSOR
-        CMAKE_C_COMPILER
-        CMAKE_CXX_COMPILER
-        CMAKE_C_FLAGS
-        CMAKE_CXX_FLAGS
-        CMAKE_SHARED_LINKER_FLAGS
-        CMAKE_MODULE_LINKER_FLAGS
-        CMAKE_EXE_LINKER_FLAGS
-        CMAKE_SKIP_RPATH
-        CMAKE_FIND_ROOT_PATH
-        GCC_COMPILER_VERSION
-    )
-    foreach(__var ${__variableNames})
-      foreach(_v ${__vars_list})
-        if("x${__var}" STREQUAL "x${_v}")
-          if(${__var} MATCHES " ")
-            set(__config "${__config}set(${__var} \"${${__var}}\")\n")
-          else()
-            set(__config "${__config}set(${__var} ${${__var}})\n")
-          endif()
-        endif()
-      endforeach()
-    endforeach()
-    if(EXISTS "${TOOLCHAIN_CONFIG_FILE}")
-      file(READ "${TOOLCHAIN_CONFIG_FILE}" __config_old)
-    endif()
-    if("${__config_old}" STREQUAL "${__config}")
-      # nothing
-    else()
-      #message("Update TOOLCHAIN config: ${__config}")
-      file(WRITE "${TOOLCHAIN_CONFIG_FILE}" "${__config}")
-    endif()
-    unset(__config)
-    unset(__config_old)
-    unset(__vars_list)
-    unset(__variableNames)
-  endmacro()
-endif() # IN_TRY_COMPILE
-
-if(NOT CMAKE_FIND_ROOT_PATH_MODE_LIBRARY)
-  set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
-endif()
-
-if(NOT CMAKE_FIND_ROOT_PATH_MODE_INCLUDE)
-  set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
-endif()
-
-if(NOT CMAKE_FIND_ROOT_PATH_MODE_PACKAGE)
-  set(CMAKE_FIND_ROOT_PATH_MODE_PACKAGE ONLY)
-endif()
-
-if(NOT CMAKE_FIND_ROOT_PATH_MODE_PROGRAM)
-  set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
-endif()
-
-macro(__cmake_find_root_save_and_reset)
-  foreach(v
-      CMAKE_FIND_ROOT_PATH_MODE_LIBRARY
-      CMAKE_FIND_ROOT_PATH_MODE_INCLUDE
-      CMAKE_FIND_ROOT_PATH_MODE_PACKAGE
-      CMAKE_FIND_ROOT_PATH_MODE_PROGRAM
-  )
-    set(__save_${v} ${${v}})
-    set(${v} NEVER)
-  endforeach()
-endmacro()
-
-macro(__cmake_find_root_restore)
-  foreach(v
-      CMAKE_FIND_ROOT_PATH_MODE_LIBRARY
-      CMAKE_FIND_ROOT_PATH_MODE_INCLUDE
-      CMAKE_FIND_ROOT_PATH_MODE_PACKAGE
-      CMAKE_FIND_ROOT_PATH_MODE_PROGRAM
-  )
-    set(${v} ${__save_${v}})
-    unset(__save_${v})
-  endforeach()
-endmacro()
-
-
-# macro to find programs on the host OS
-macro(find_host_program)
- __cmake_find_root_save_and_reset()
- if(CMAKE_HOST_WIN32)
-  SET(WIN32 1)
-  SET(UNIX)
- elseif(CMAKE_HOST_APPLE)
-  SET(APPLE 1)
-  SET(UNIX)
- endif()
- find_program(${ARGN})
- SET(WIN32)
- SET(APPLE)
- SET(UNIX 1)
- __cmake_find_root_restore()
-endmacro()
-
-# macro to find packages on the host OS
-macro(find_host_package)
- __cmake_find_root_save_and_reset()
- if(CMAKE_HOST_WIN32)
-  SET(WIN32 1)
-  SET(UNIX)
- elseif(CMAKE_HOST_APPLE)
-  SET(APPLE 1)
-  SET(UNIX)
- endif()
- find_package(${ARGN})
- SET(WIN32)
- SET(APPLE)
- SET(UNIX 1)
- __cmake_find_root_restore()
-endmacro()
-
-set(CMAKE_SKIP_RPATH TRUE CACHE BOOL "If set, runtime paths are not added when using shared libraries.")
diff --git a/gradle/wrapper/gradle-wrapper.jar b/gradle/wrapper/gradle-wrapper.jar
index d64cd49..d997cfc 100644
Binary files a/gradle/wrapper/gradle-wrapper.jar and b/gradle/wrapper/gradle-wrapper.jar differ
diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties
index 1af9e09..c61a118 100644
--- a/gradle/wrapper/gradle-wrapper.properties
+++ b/gradle/wrapper/gradle-wrapper.properties
@@ -1,6 +1,6 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-8.5-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-9.4.1-bin.zip
 networkTimeout=10000
 validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME
diff --git a/gradlew b/gradlew
index 1aa94a4..739907d 100755
--- a/gradlew
+++ b/gradlew
@@ -1,7 +1,7 @@
 #!/bin/sh
 
 #
-# Copyright © 2015-2021 the original authors.
+# Copyright © 2015 the original authors.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -15,6 +15,8 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 #
+# SPDX-License-Identifier: Apache-2.0
+#
 
 ##############################################################################
 #
@@ -55,7 +57,7 @@
 #       Darwin, MinGW, and NonStop.
 #
 #   (3) This script is generated from the Groovy template
-#       https://github.com/gradle/gradle/blob/HEAD/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+#       https://github.com/gradle/gradle/blob/2d6327017519d23b96af35865dc997fcb544fb40/platforms/jvm/plugins-application/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
 #       within the Gradle project.
 #
 #       You can find Gradle at https://github.com/gradle/gradle/.
@@ -84,7 +86,7 @@ done
 # shellcheck disable=SC2034
 APP_BASE_NAME=${0##*/}
 # Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
-APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit
+APP_HOME=$( cd -P "${APP_HOME:-./}" > /dev/null && printf '%s\n' "$PWD" ) || exit
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
 MAX_FD=maximum
@@ -112,7 +114,6 @@ case "$( uname )" in                #(
   NONSTOP* )        nonstop=true ;;
 esac
 
-CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar
 
 
 # Determine the Java command to use to start the JVM.
@@ -170,7 +171,6 @@ fi
 # For Cygwin or MSYS, switch paths to Windows format before running java
 if "$cygwin" || "$msys" ; then
     APP_HOME=$( cygpath --path --mixed "$APP_HOME" )
-    CLASSPATH=$( cygpath --path --mixed "$CLASSPATH" )
 
     JAVACMD=$( cygpath --unix "$JAVACMD" )
 
@@ -203,15 +203,14 @@ fi
 DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
 
 # Collect all arguments for the java command:
-#   * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
 #     and any embedded shellness will be escaped.
 #   * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be
 #     treated as '${Hostname}' itself on the command line.
 
 set -- \
         "-Dorg.gradle.appname=$APP_BASE_NAME" \
-        -classpath "$CLASSPATH" \
-        org.gradle.wrapper.GradleWrapperMain \
+        -jar "$APP_HOME/gradle/wrapper/gradle-wrapper.jar" \
         "$@"
 
 # Stop when "xargs" is not available.
diff --git a/gradlew.bat b/gradlew.bat
index 6689b85..e509b2d 100644
--- a/gradlew.bat
+++ b/gradlew.bat
@@ -13,6 +13,8 @@
 @rem See the License for the specific language governing permissions and
 @rem limitations under the License.
 @rem
+@rem SPDX-License-Identifier: Apache-2.0
+@rem
 
 @if "%DEBUG%"=="" @echo off
 @rem ##########################################################################
@@ -43,11 +45,11 @@ set JAVA_EXE=java.exe
 %JAVA_EXE% -version >NUL 2>&1
 if %ERRORLEVEL% equ 0 goto execute
 
-echo.
-echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
-echo.
-echo Please set the JAVA_HOME variable in your environment to match the
-echo location of your Java installation.
+echo. 1>&2
+echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. 1>&2
+echo. 1>&2
+echo Please set the JAVA_HOME variable in your environment to match the 1>&2
+echo location of your Java installation. 1>&2
 
 goto fail
 
@@ -57,22 +59,21 @@ set JAVA_EXE=%JAVA_HOME%/bin/java.exe
 
 if exist "%JAVA_EXE%" goto execute
 
-echo.
-echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
-echo.
-echo Please set the JAVA_HOME variable in your environment to match the
-echo location of your Java installation.
+echo. 1>&2
+echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% 1>&2
+echo. 1>&2
+echo Please set the JAVA_HOME variable in your environment to match the 1>&2
+echo location of your Java installation. 1>&2
 
 goto fail
 
 :execute
 @rem Setup the command line
 
-set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
 
 
 @rem Execute Gradle
-"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %*
+"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -jar "%APP_HOME%\gradle\wrapper\gradle-wrapper.jar" %*
 
 :end
 @rem End local scope for the variables with windows NT shell
diff --git a/libssh-mirror b/libssh-mirror
index 479eca1..5031388 160000
--- a/libssh-mirror
+++ b/libssh-mirror
@@ -1 +1 @@
-Subproject commit 479eca13aaaa46b43e68c52186e3783f06ae6f34
+Subproject commit 50313883f3a077458cde4ea95bf46bfeb0771b34
diff --git a/libssh.gradle b/libssh.gradle
index 8b31f6a..fdc9697 100644
--- a/libssh.gradle
+++ b/libssh.gradle
@@ -26,23 +26,11 @@ types.each { type ->
       environment "ARCHFLAGS", "-arch arm64 -arch x86_64"
     } else if (project.platform == "linux-arm64") {
       if (project.hasProperty('forcecrossbuild')) {
-        args "-DCMAKE_TOOLCHAIN_FILE=$rootDir/cmake/aarch64-bullseye-gnu.toolchain.cmake"
+        args "-DCMAKE_TOOLCHAIN_FILE=/usr/local/toolchain-config.cmake"
       }
       args "-DOPENSSL_CRYPTO_LIBRARY=${project.openssl_install}/lib/libcrypto.a"
       args "-DOPENSSL_SSL_LIBRARY=${project.openssl_install}/lib/libssl.a"
       args "-DOPENSSL_INCLUDE_DIR=${project.openssl_install}/include"
-    } else if (project.platform == "linux-arm32") {
-      if (project.hasProperty('forcecrossbuild')) {
-       args "-DCMAKE_TOOLCHAIN_FILE=$rootDir/cmake/arm-pi-gnueabihf.toolchain.cmake"
-      }
-      args "-DOPENSSL_CRYPTO_LIBRARY=${project.openssl_install}/lib/libcrypto.a"
-      args "-DOPENSSL_SSL_LIBRARY=${project.openssl_install}/lib/libssl.a"
-      args "-DOPENSSL_INCLUDE_DIR=${project.openssl_install}/include"
-    } else if (project.platform == "linux-athena") {
-      args "-DCMAKE_TOOLCHAIN_FILE=$rootDir/cmake/arm-frc-gnueabi.toolchain.cmake"
-      args "-DOPENSSL_CRYPTO_LIBRARY=${project.openssl_install}/lib/libcrypto.a"
-      args "-DOPENSSL_SSL_LIBRARY=${project.openssl_install}/lib/libssl.a"
-      args "-DOPENSSL_INCLUDE_DIR=${project.openssl_install}/include"
     } else if (project.platform.contains("windows")) {
       args "-DOPENSSL_ROOT_DIR=${project.openssl_install}"
     }
@@ -53,9 +41,7 @@ types.each { type ->
     environment "OPENSSL_ROOT_DIR": "${project.openssl_install}"
 
     def platformArg = "x64"
-    if (project.platform == "windows-x86") {
-      platformArg = "Win32"
-    } else if (project.platform == "windows-arm64") {
+    if (project.platform == "windows-arm64") {
       platformArg = "arm64"
     }
 
@@ -84,9 +70,7 @@ types.each { type ->
     workingDir build_dir
 
     def platformArg = "/p:Platform=x64"
-    if (project.platform == "windows-x86") {
-      platformArg = "/p:Platform=win32"
-    } else if (project.platform == "windows-arm64") {
+    if (project.platform == "windows-arm64") {
       platformArg = "/p:Platform=arm64"
     }
 
diff --git a/openssl b/openssl
index 7b649c7..11b7b6e 160000
--- a/openssl
+++ b/openssl
@@ -1 +1 @@
-Subproject commit 7b649c73a2b99b52d45fc0600ee1ecf156113deb
+Subproject commit 11b7b6ea3b65a584e1d31408ed1bdb139465cffd
diff --git a/openssl.gradle b/openssl.gradle
index 2dfae0c..cf2ba79 100644
--- a/openssl.gradle
+++ b/openssl.gradle
@@ -29,9 +29,7 @@ project.tasks.create("configureOpenSSL", Exec) {
 
   // Add the arch specifier for Windows.
   if (project.platform.contains("windows")) {
-    if (project.platform == "windows-x86") {
-      args "VC-WIN32"
-    } else if (project.platform == "windows-arm64") {
+    if (project.platform == "windows-arm64") {
       args "VC-WIN64-ARM"
     } else {
       args "VC-WIN64A"
@@ -46,22 +44,10 @@ project.tasks.create("configureOpenSSL", Exec) {
     environment "ARCHFLAGS", "-arch x86_64"
   } else {
     args "--openssldir=/usr/local/ssl"
-    if (project.platform == "linux-arm32") {
-      args "linux-armv4"
-      args "-DL_ENDIAN"
-      args "-latomic"
-      if (project.hasProperty('forcecrossbuild')) {
-        args "--cross-compile-prefix=armv6-bullseye-linux-gnueabihf-"
-      }
-    } else if (project.platform == "linux-athena") {
-      args "linux-armv4"
-      args "-DL_ENDIAN"
-      args "-latomic"
-      args "--cross-compile-prefix=arm-frc2024-linux-gnueabi-"
-    } else if (project.platform == "linux-arm64") {
+    if (project.platform == "linux-arm64") {
       args "linux-aarch64"
       if (project.hasProperty('forcecrossbuild')) {
-        args "--cross-compile-prefix=aarch64-bullseye-linux-gnu-"
+        args "--cross-compile-prefix=aarch64-bookworm-linux-gnu-"
       }
     }
   }
diff --git a/publish.gradle b/publish.gradle
index 1cf8f85..db047c5 100644
--- a/publish.gradle
+++ b/publish.gradle
@@ -5,10 +5,10 @@ def openssl_license_file = file("openssl/LICENSE.txt")
 
 // Define names for publishing.
 def base_artifact_id = "libssh"
-def artifact_group_id = "edu.wpi.first.thirdparty.frc2024"
+def artifact_group_id = "org.wpilib.thirdparty"
 
 // Define names for archives.
-def zip_base_name = "_GROUP_edu_wpi_first_thirdparty_frc2024_ID_libssh_CLS"
+def zip_base_name = "_GROUP_org_wpilib_thirdparty_ID_libssh_CLS"
 
 // Generate version number.
 def version_file = file("$outputs_dir/version.txt")