diff --git a/Dockerfile b/Dockerfile
index e133a5c502..cba0b8b8d8 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -1,4 +1,4 @@
-ARG BASE_IMAGE=debian:bullseye
+ARG BASE_IMAGE=debian:bookworm
 FROM ${BASE_IMAGE}
 
 ENV DEBIAN_FRONTEND noninteractive
@@ -10,7 +10,7 @@ RUN apt-get -y update && \
         libarchive-tools libcap2-bin rsync grep udev xz-utils curl xxd file kmod bc\
         binfmt-support ca-certificates qemu-utils kpartx fdisk gpg pigz\
         crossbuild-essential-arm64 \
-        build-essential cmake python3 python3-distutils python3-jinja2 ant sudo openjdk-17-jdk \
+        build-essential cmake ninja-build protobuf-compiler python3 python3-distutils python3-jinja2 ant sudo openjdk-17-jdk \
     && rm -rf /var/lib/apt/lists/*
 
 COPY . /pi-gen/
diff --git a/README.md b/README.md
index 992b8c65c5..7163db993e 100644
--- a/README.md
+++ b/README.md
@@ -64,6 +64,11 @@ The following environment variables are supported:
    The release version to build images against. Valid values are jessie, stretch
    buster, bullseye, and testing.
 
+ * `PI_GEN_RELEASE` (Default: `Raspberry Pi reference`)
+
+   The release name to use in `/etc/issue.txt`. The default should only be used
+   for official Raspberry Pi builds.
+
 * `USE_QCOW2` **EXPERIMENTAL** (Default: `0` )
 
     Instead of using traditional way of building the rootfs of every stage in
@@ -87,7 +92,7 @@ The following environment variables are supported:
     that the network block device is not disconnected correctly after the Docker process has
     ended abnormally. In that case see [Disconnect an image if something went wrong](#Disconnect-an-image-if-something-went-wrong)
 
-* `RELEASE` (Default: bullseye)
+* `RELEASE` (Default: bookworm)
 
    The release version to build images against. Valid values are any supported
    Debian release. However, since different releases will have different sets of
@@ -204,9 +209,9 @@ The following environment variables are supported:
    stays activated. `FIRST_USER_PASS` must be set for this to work. Please be aware of the implied
    security risk of defining a default username and password for your devices.
 
- * `WPA_ESSID`, `WPA_PASSWORD` and `WPA_COUNTRY` (Default: unset)
+ * `WPA_COUNTRY` (Default: unset)
 
-   If these are set, they are use to configure `wpa_supplicant.conf`, so that the Raspberry Pi can automatically connect to a wireless network on first boot. If `WPA_ESSID` is set and `WPA_PASSWORD` is unset an unprotected wireless network will be configured. If set, `WPA_PASSWORD` must be between 8 and 63 characters. `WPA_COUNTRY` is a 2-letter ISO/IEC 3166 country Code, i.e. `GB`
+   Sets the default WLAN regulatory domain and unblocks WLAN interfaces. This should be a 2-letter ISO/IEC 3166 country Code, i.e. `GB`
 
  * `ENABLE_SSH` (Default: `1`)
 
@@ -527,7 +532,7 @@ To resolve this, ensure that the following files are available (install them if
 
 ```
 /lib/modules/$(uname -r)/kernel/fs/binfmt_misc.ko
-/usr/bin/qemu-arm-static
+/usr/bin/qemu-aarch64-static
 ```
 
 You may also need to load the module by hand - run `modprobe binfmt_misc`.
diff --git a/build-docker.sh b/build-docker.sh
index 62ac5e656d..05d7da1add 100755
--- a/build-docker.sh
+++ b/build-docker.sh
@@ -1,13 +1,20 @@
-#!/bin/bash -eu
+#!/usr/bin/env bash
+# Note: Avoid usage of arrays as MacOS users have an older version of bash (v3.x) which does not supports arrays
+set -eu
 
-DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
+DIR="$(CDPATH='' cd -- "$(dirname -- "$0")" && pwd)"
 
 BUILD_OPTS="$*"
 
-DOCKER="docker"
+# Allow user to override docker command
+DOCKER=${DOCKER:-docker}
 
-if ! ${DOCKER} ps >/dev/null 2>&1; then
-	DOCKER="sudo docker"
+# Ensure that default docker command is not set up in rootless mode
+if \
+  ! ${DOCKER} ps    >/dev/null 2>&1 || \
+    ${DOCKER} info 2>/dev/null | grep -q rootless \
+; then
+	DOCKER="sudo ${DOCKER}"
 fi
 if ! ${DOCKER} ps >/dev/null; then
 	echo "error connecting to docker:"
@@ -88,49 +95,84 @@ fi
 # Modify original build-options to allow config file to be mounted in the docker container
 BUILD_OPTS="$(echo "${BUILD_OPTS:-}" | sed -E 's@\-c\s?([^ ]+)@-c /config@')"
 
-${DOCKER} build --build-arg BASE_IMAGE=debian:bullseye -t pi-gen "${DIR}"
+${DOCKER} build --build-arg BASE_IMAGE=debian:bookworm -t pi-gen "${DIR}"
 
 if [ "${CONTAINER_EXISTS}" != "" ]; then
-	trap 'echo "got CTRL+C... please wait 5s" && ${DOCKER} stop -t 5 ${CONTAINER_NAME}_cont' SIGINT SIGTERM
-	time ${DOCKER} run --rm --privileged \
-		--cap-add=ALL \
-		-v /dev:/dev \
-		-v /lib/modules:/lib/modules \
-		${PIGEN_DOCKER_OPTS} \
-		--volume "${CONFIG_FILE}":/config:ro \
-		-e "GIT_HASH=${GIT_HASH}" \
-		--volumes-from="${CONTAINER_NAME}" --name "${CONTAINER_NAME}_cont" \
-		-e IMG_NAME="${IMG_NAME}"\
-		-e IMG_VERSION="${IMG_VERSION}"\
-		pi-gen \
-		bash -e -o pipefail -c "dpkg-reconfigure qemu-user-static &&
-	# binfmt_misc is sometimes not mounted with debian bullseye image
-	(mount binfmt_misc -t binfmt_misc /proc/sys/fs/binfmt_misc || true) &&
-	cd /pi-gen; ./build.sh ${BUILD_OPTS} &&
-	rsync -av work/*/build.log deploy/" &
-	wait "$!"
+  DOCKER_CMDLINE_NAME="${CONTAINER_NAME}_cont"
+  DOCKER_CMDLINE_PRE="--rm"
+  DOCKER_CMDLINE_POST="--volumes-from=${CONTAINER_NAME}"
 else
-	trap 'echo "got CTRL+C... please wait 5s" && ${DOCKER} stop -t 5 ${CONTAINER_NAME}' SIGINT SIGTERM
-	time ${DOCKER} run --name "${CONTAINER_NAME}" --privileged \
-		--cap-add=ALL \
-		-v /dev:/dev \
-		-v /lib/modules:/lib/modules \
-		${PIGEN_DOCKER_OPTS} \
-		--volume "${CONFIG_FILE}":/config:ro \
-		-e "GIT_HASH=${GIT_HASH}" \
-		-e IMG_NAME="${IMG_NAME}"\
-		-e IMG_VERSION="${IMG_VERSION}"\
-		pi-gen \
-		bash -e -o pipefail -c "dpkg-reconfigure qemu-user-static &&
-	# binfmt_misc is sometimes not mounted with debian bullseye image
-	(mount binfmt_misc -t binfmt_misc /proc/sys/fs/binfmt_misc || true) &&
-	cd /pi-gen; ./build.sh ${BUILD_OPTS} &&
-	rsync -av work/*/build.log deploy/" &
-	wait "$!"
+  DOCKER_CMDLINE_NAME="${CONTAINER_NAME}"
+  DOCKER_CMDLINE_PRE=""
+  DOCKER_CMDLINE_POST=""
 fi
 
+# Check if binfmt_misc is required
+binfmt_misc_required=1
+case $(uname -m) in
+  aarch64)
+    binfmt_misc_required=0
+    ;;
+  arm*)
+    binfmt_misc_required=0
+    ;;
+esac
+
+# Check if qemu-aarch64-static and /proc/sys/fs/binfmt_misc are present
+if [[ "${binfmt_misc_required}" == "1" ]]; then
+  if ! qemu_arm=$(which qemu-aarch64-static) ; then
+    echo "qemu-aarch64-static not found (please install qemu-user-static)"
+    exit 1
+  fi
+  if [ ! -f /proc/sys/fs/binfmt_misc/register ]; then
+    echo "binfmt_misc required but not mounted, trying to mount it..."
+    if ! mount binfmt_misc -t binfmt_misc /proc/sys/fs/binfmt_misc ; then
+        echo "mounting binfmt_misc failed"
+        exit 1
+    fi
+    echo "binfmt_misc mounted"
+  fi
+  if ! grep -q "^interpreter ${qemu_arm}" /proc/sys/fs/binfmt_misc/qemu-aarch64* ; then
+    # Register qemu-aarch64 for binfmt_misc
+    reg="echo ':qemu-aarch64-rpi:M::"\
+"\x7fELF\x02\x01\x01\x00\x00\x00\x00\x00\x00\x00\x00\x00\x02\x00\xb7\x00:"\
+"\xff\xff\xff\xff\xff\xff\xff\x00\xff\xff\xff\xff\xff\xff\xff\xff\xfe\xff\xff\xff:"\
+"${qemu_arm}:F' > /proc/sys/fs/binfmt_misc/register"
+    echo "Registering qemu-aarch64 for binfmt_misc..."
+    sudo bash -c "${reg}" 2>/dev/null || true
+  fi
+fi
+
+trap 'echo "got CTRL+C... please wait 5s" && ${DOCKER} stop -t 5 ${DOCKER_CMDLINE_NAME}' SIGINT SIGTERM
+time ${DOCKER} run \
+  $DOCKER_CMDLINE_PRE \
+  --name "${DOCKER_CMDLINE_NAME}" \
+  --privileged \
+  --cap-add=ALL \
+  -v /dev:/dev \
+  -v /lib/modules:/lib/modules \
+  ${PIGEN_DOCKER_OPTS} \
+  --volume "${CONFIG_FILE}":/config:ro \
+  -e "GIT_HASH=${GIT_HASH}" \
+  -e IMG_VERSION="${IMG_VERSION}"\
+  $DOCKER_CMDLINE_POST \
+  pi-gen \
+  bash -e -o pipefail -c "
+    dpkg-reconfigure qemu-user-static &&
+    # binfmt_misc is sometimes not mounted with debian bullseye image
+    (mount binfmt_misc -t binfmt_misc /proc/sys/fs/binfmt_misc || true) &&
+    cd /pi-gen; ./build.sh ${BUILD_OPTS} &&
+    rsync -av work/*/build.log deploy/
+  " &
+  wait "$!"
+
+# Ensure that deploy/ is always owned by calling user
 echo "copying results from deploy/"
-${DOCKER} cp "${CONTAINER_NAME}":/pi-gen/deploy .
+${DOCKER} cp "${CONTAINER_NAME}":/pi-gen/deploy - | tar -xf -
+
+echo "copying log from container ${CONTAINER_NAME} to deploy/"
+${DOCKER} logs --timestamps "${CONTAINER_NAME}" &>deploy/build-docker.log
+
 ls -lah deploy
 
 # cleanup
diff --git a/build.sh b/build.sh
index 490dd6dd49..e7e568e61b 100755
--- a/build.sh
+++ b/build.sh
@@ -194,6 +194,7 @@ trap term EXIT INT TERM
 
 export PI_GEN=${PI_GEN:-pi-gen}
 export PI_GEN_REPO=${PI_GEN_REPO:-https://github.com/RPi-Distro/pi-gen}
+export PI_GEN_RELEASE=${PI_GEN_RELEASE:-Raspberry Pi reference}
 
 if [ -z "${IMG_NAME}" ]; then
 	echo "IMG_NAME not set" 1>&2
@@ -229,9 +230,7 @@ export TARGET_HOSTNAME=${TARGET_HOSTNAME:-raspberrypi}
 export FIRST_USER_NAME=${FIRST_USER_NAME:-pi}
 export FIRST_USER_PASS
 export DISABLE_FIRST_BOOT_USER_RENAME=${DISABLE_FIRST_BOOT_USER_RENAME:-0}
-export RELEASE=${RELEASE:-bullseye} # Don't forget to update stage0/prerun.sh
-export WPA_ESSID
-export WPA_PASSWORD
+export RELEASE=${RELEASE:-bookworm} # Don't forget to update stage0/prerun.sh
 export WPA_COUNTRY
 export ENABLE_SSH="${ENABLE_SSH:-1}"
 export PUBKEY_ONLY_SSH="${PUBKEY_ONLY_SSH:-0}"
diff --git a/config b/config
index d2f0dcd9cc..9f3b09f5ee 100644
--- a/config
+++ b/config
@@ -1,3 +1,4 @@
+PI_GEN_RELEASE=WPILibPi
 IMG_NAME='WPILibPi_64'
 TARGET_HOSTNAME=wpilibpi
 FIRST_USER_PASS=raspberry
diff --git a/deps/tools/configServer/src/Application.h b/deps/tools/configServer/src/Application.h
index c438d14181..6d999abaf8 100644
--- a/deps/tools/configServer/src/Application.h
+++ b/deps/tools/configServer/src/Application.h
@@ -11,10 +11,7 @@
 #include <string_view>
 
 #include <wpi/Signal.h>
-
-namespace wpi {
-class json;
-}  // namespace wpi
+#include <wpi/json_fwd.h>
 
 class UploadHelper;
 
diff --git a/deps/tools/configServer/src/NetworkSettings.cpp b/deps/tools/configServer/src/NetworkSettings.cpp
index 5c5e355fdb..00d1527c02 100644
--- a/deps/tools/configServer/src/NetworkSettings.cpp
+++ b/deps/tools/configServer/src/NetworkSettings.cpp
@@ -6,6 +6,7 @@
 
 #include <unistd.h>
 
+#include <bit>
 #include <string>
 #include <vector>
 
@@ -56,8 +57,8 @@ bool NetmaskToCidr(std::string_view netmask, unsigned int* cidr) {
   in_addr addr;
   if (wpi::uv::NameToAddr(netmask, &addr) != 0) return false;
   uint32_t hostAddr = ntohl(addr.s_addr);
-  auto leadingOnes = wpi::countLeadingOnes(hostAddr);
-  auto trailingZeros = wpi::countTrailingZeros(hostAddr);
+  auto leadingOnes = std::countl_one(hostAddr);
+  auto trailingZeros = std::countr_zero(hostAddr);
   if (leadingOnes + trailingZeros != 32) return false;
   *cidr = leadingOnes;
   return true;
@@ -123,19 +124,19 @@ static std::string BuildDhcpcdSetting(
       break;
     case NetworkSettings::kStatic:
       fmt::print(os, "interface {}\n", iface);
-      fmt::print(os, "static ip_address={}/{}\n", addressOut, cidr);
+      fmt::print(os, "static ip_address={}/{}\n", addressOut.str(), cidr);
       if (!gatewayOut.empty())
-        fmt::print(os, "static routers={}\n", gatewayOut);
+        fmt::print(os, "static routers={}\n", gatewayOut.str());
       if (!dnsOut.empty())
-        fmt::print(os, "static domain_name_servers={}\n", dnsOut);
+        fmt::print(os, "static domain_name_servers={}\n", dnsOut.str());
       break;
     case NetworkSettings::kDhcpStatic:
       fmt::print(os, "profile static_{}\n", iface);
-      fmt::print(os, "static ip_address={}/{}\n", addressOut, cidr);
+      fmt::print(os, "static ip_address={}/{}\n", addressOut.str(), cidr);
       if (!gatewayOut.empty())
-        fmt::print(os, "static routers={}\n", gatewayOut);
+        fmt::print(os, "static routers={}\n", gatewayOut.str());
       if (!dnsOut.empty())
-        fmt::print(os, "static domain_name_servers={}\n", dnsOut);
+        fmt::print(os, "static domain_name_servers={}\n", dnsOut.str());
       fmt::print(os, "interface {}\n", iface);
       fmt::print(os, "fallback static_{}\n", iface);
       break;
diff --git a/deps/tools/configServer/src/NetworkSettings.h b/deps/tools/configServer/src/NetworkSettings.h
index d9794dec12..1eb40591de 100644
--- a/deps/tools/configServer/src/NetworkSettings.h
+++ b/deps/tools/configServer/src/NetworkSettings.h
@@ -10,12 +10,9 @@
 #include <string_view>
 
 #include <wpi/Signal.h>
+#include <wpi/json_fwd.h>
 #include <wpinet/uv/Loop.h>
 
-namespace wpi {
-class json;
-}  // namespace wpi
-
 class NetworkSettings {
   struct private_init {};
 
diff --git a/deps/tools/configServer/src/RomiStatus.cpp b/deps/tools/configServer/src/RomiStatus.cpp
index df1f037123..6ceed71b5e 100644
--- a/deps/tools/configServer/src/RomiStatus.cpp
+++ b/deps/tools/configServer/src/RomiStatus.cpp
@@ -14,6 +14,7 @@
 #include <string_view>
 
 #include <fmt/format.h>
+#include <wpi/MemoryBuffer.h>
 #include <wpi/SmallString.h>
 #include <wpi/fmt/raw_ostream.h>
 #include <wpi/fs.h>
@@ -237,9 +238,10 @@ wpi::json RomiStatus::ReadRomiConfigFile(
     std::function<void(std::string_view)> onFail) {
   // Read config file
   std::error_code ec;
-  wpi::raw_fd_istream is(ROMI_JSON, ec);
+  std::unique_ptr<wpi::MemoryBuffer> fileBuffer =
+      wpi::MemoryBuffer::GetFile(ROMI_JSON, ec);
 
-  if (ec) {
+  if (fileBuffer == nullptr || ec) {
     onFail("Could not read romi config file");
     fmt::print(stderr, "could not read {}\n", ROMI_JSON);
     return wpi::json();
@@ -247,7 +249,7 @@ wpi::json RomiStatus::ReadRomiConfigFile(
 
   wpi::json j;
   try {
-    j = wpi::json::parse(is);
+    j = wpi::json::parse(fileBuffer->GetCharBuffer());
   } catch(const wpi::json::parse_error& e) {
     onFail("Parse error in config file");
     fmt::print(stderr, "Parse error in {}: byte {}: {}\n", ROMI_JSON, e.byte,
diff --git a/deps/tools/configServer/src/RomiStatus.h b/deps/tools/configServer/src/RomiStatus.h
index cfc56fe5a2..c976825db2 100644
--- a/deps/tools/configServer/src/RomiStatus.h
+++ b/deps/tools/configServer/src/RomiStatus.h
@@ -12,15 +12,12 @@
 
 #include <cscore.h>
 #include <wpi/Signal.h>
+#include <wpi/json_fwd.h>
 #include <wpinet/uv/Loop.h>
 
-namespace wpi {
-class json;
-
-namespace uv {
+namespace wpi::uv {
 class Buffer;
-}  // namespace uv
-}  // namespace wpi
+}  // namespace wpi::uv
 
 class RomiStatus {
   struct private_init {};
diff --git a/deps/tools/configServer/src/SystemStatus.h b/deps/tools/configServer/src/SystemStatus.h
index 8a8540f93d..3b356b43c8 100644
--- a/deps/tools/configServer/src/SystemStatus.h
+++ b/deps/tools/configServer/src/SystemStatus.h
@@ -8,13 +8,10 @@
 #include <memory>
 
 #include <wpi/Signal.h>
+#include <wpi/json_fwd.h>
 
 #include "DataHistory.h"
 
-namespace wpi {
-class json;
-}  // namespace wpi
-
 class SystemStatus {
   struct private_init {};
 
diff --git a/deps/tools/configServer/src/VisionSettings.cpp b/deps/tools/configServer/src/VisionSettings.cpp
index 05f398d7de..66d0d10ee1 100644
--- a/deps/tools/configServer/src/VisionSettings.cpp
+++ b/deps/tools/configServer/src/VisionSettings.cpp
@@ -5,6 +5,7 @@
 #include "VisionSettings.h"
 
 #include <fmt/format.h>
+#include <wpi/MemoryBuffer.h>
 #include <wpi/fs.h>
 #include <wpi/json.h>
 #include <wpi/raw_istream.h>
@@ -41,15 +42,17 @@ void VisionSettings::UpdateStatus() { status(GetStatusJson()); }
 
 wpi::json VisionSettings::GetStatusJson() {
   std::error_code ec;
-  wpi::raw_fd_istream is(FRC_JSON, ec);
-  if (ec) {
+  std::unique_ptr<wpi::MemoryBuffer> fileBuffer =
+      wpi::MemoryBuffer::GetFile(FRC_JSON, ec);
+
+  if (fileBuffer == nullptr || ec) {
     fmt::print(stderr, "could not read {}\n", FRC_JSON);
     return wpi::json();
   }
 
   try {
     wpi::json j = {{"type", "visionSettings"},
-                   {"settings", wpi::json::parse(is)}};
+                   {"settings", wpi::json::parse(fileBuffer->GetCharBuffer())}};
     return j;
   } catch (wpi::json::exception& e) {
     fmt::print(stderr, "could not parse {}\n", FRC_JSON);
diff --git a/deps/tools/configServer/src/VisionSettings.h b/deps/tools/configServer/src/VisionSettings.h
index a2acf6ea4a..1a21d89342 100644
--- a/deps/tools/configServer/src/VisionSettings.h
+++ b/deps/tools/configServer/src/VisionSettings.h
@@ -10,10 +10,7 @@
 #include <string_view>
 
 #include <wpi/Signal.h>
-
-namespace wpi {
-class json;
-}  // namespace wpi
+#include <wpi/json_fwd.h>
 
 class VisionSettings {
   struct private_init {};
diff --git a/deps/tools/configServer/src/VisionStatus.h b/deps/tools/configServer/src/VisionStatus.h
index 07736f0027..ba5638a9ed 100644
--- a/deps/tools/configServer/src/VisionStatus.h
+++ b/deps/tools/configServer/src/VisionStatus.h
@@ -12,15 +12,12 @@
 
 #include <cscore.h>
 #include <wpi/Signal.h>
+#include <wpi/json_fwd.h>
 #include <wpinet/uv/Loop.h>
 
-namespace wpi {
-class json;
-
-namespace uv {
+namespace wpi::uv {
 class Buffer;
-}  // namespace uv
-}  // namespace wpi
+}  // namespace wpi::uv
 
 class VisionStatus {
   struct private_init {};
diff --git a/deps/tools/configServer/src/main.cpp b/deps/tools/configServer/src/main.cpp
index 34a12f1bb3..ac39715d1f 100644
--- a/deps/tools/configServer/src/main.cpp
+++ b/deps/tools/configServer/src/main.cpp
@@ -9,6 +9,7 @@
 
 #include <fmt/format.h>
 #include <wpi/MathExtras.h>
+#include <wpi/bit.h>
 #include <wpi/timestamp.h>
 #include <wpinet/raw_uv_ostream.h>
 #include <wpinet/uv/Loop.h>
@@ -129,7 +130,8 @@ int main(int argc, char* argv[]) {
 
           // Header is 2 byte len, 1 byte type, 4 byte timestamp, 2 byte
           // sequence num
-          uint32_t ts = wpi::FloatToBits((wpi::Now() - startTime) * 1.0e-6);
+          uint32_t ts =
+              wpi::bit_cast<uint32_t>((wpi::Now() - startTime) * 1.0e-6f);
           uint16_t pktlen = len + 1 + 4 + 2;
           const uint8_t contents[] =
               {static_cast<uint8_t>((pktlen >> 8) & 0xff),
diff --git a/deps/tools/multiCameraServer/src/multiCameraServer.cpp b/deps/tools/multiCameraServer/src/multiCameraServer.cpp
index b1ace5373f..70c0ccccef 100644
--- a/deps/tools/multiCameraServer/src/multiCameraServer.cpp
+++ b/deps/tools/multiCameraServer/src/multiCameraServer.cpp
@@ -10,9 +10,9 @@
 
 #include <fmt/format.h>
 #include <networktables/NetworkTableInstance.h>
+#include <wpi/MemoryBuffer.h>
 #include <wpi/StringExtras.h>
 #include <wpi/json.h>
-#include <wpi/raw_istream.h>
 
 #include "cameraserver/CameraServer.h"
 
@@ -152,8 +152,9 @@ bool ReadSwitchedCameraConfig(const wpi::json& config) {
 bool ReadConfig() {
   // open config file
   std::error_code ec;
-  wpi::raw_fd_istream is(configFile, ec);
-  if (ec) {
+  std::unique_ptr<wpi::MemoryBuffer> fileBuffer =
+      wpi::MemoryBuffer::GetFile(configFile, ec);
+  if (fileBuffer == nullptr || ec) {
     fmt::print(stderr, "could not open '{}': {}", configFile, ec.message());
     return false;
   }
@@ -161,7 +162,7 @@ bool ReadConfig() {
   // parse file
   wpi::json j;
   try {
-    j = wpi::json::parse(is);
+    j = wpi::json::parse(fileBuffer->GetCharBuffer());
   } catch (const wpi::json::parse_error& e) {
     ParseError("byte {}: {}", e.byte, e.what());
     return false;
@@ -288,7 +289,7 @@ int main(int argc, char* argv[]) {
 
   // start cameras
   // work around wpilibsuite/allwpilib#5055
-  frc::CameraServer::SetSize(frc::CameraServer::kSize160x120);
+  frc::CameraServer::RemoveCamera("unused");
   for (const auto& config : cameraConfigs)
     cameras.emplace_back(StartCamera(config));
 
diff --git a/export-image/02-set-sources/01-run.sh b/export-image/02-set-sources/01-run.sh
index 5f512099b3..6d5049613c 100755
--- a/export-image/02-set-sources/01-run.sh
+++ b/export-image/02-set-sources/01-run.sh
@@ -4,6 +4,6 @@ rm -f "${ROOTFS_DIR}/etc/apt/apt.conf.d/51cache"
 find "${ROOTFS_DIR}/var/lib/apt/lists/" -type f -delete
 on_chroot << EOF
 apt-get update
-apt-get -y dist-upgrade
+apt-get -y dist-upgrade --auto-remove --purge
 apt-get clean
 EOF
diff --git a/export-image/03-network/01-run.sh b/export-image/03-network/01-run.sh
index 2e0cc7af73..4b1338ec87 100755
--- a/export-image/03-network/01-run.sh
+++ b/export-image/03-network/01-run.sh
@@ -10,9 +10,9 @@ ln -s /tmp/dhcpcd.resolv.conf /etc/resolv.conf
 
 #sed -i -e 's/\/run\//\/var\/run\//' /etc/systemd/system/dhcpcd5.service
 
-cp /etc/dhcpcd.conf /boot/
-chown -f 0:0 /boot/dhcpcd.conf
-ln -sf /boot/dhcpcd.conf /etc/dhcpcd.conf
+#cp /etc/dhcpcd.conf /boot/
+#chown -f 0:0 /boot/dhcpcd.conf
+#ln -sf /boot/dhcpcd.conf /etc/dhcpcd.conf
 
 cp /etc/wpa_supplicant/wpa_supplicant.conf /boot/wpa_supplicant_wpilibpi.conf
 chown -f 0:0 /boot/wpa_supplicant_wpilibpi.conf
diff --git a/export-image/04-set-partuuid/00-run.sh b/export-image/04-set-partuuid/00-run.sh
index 16e1b158ef..2694295c3c 100755
--- a/export-image/04-set-partuuid/00-run.sh
+++ b/export-image/04-set-partuuid/00-run.sh
@@ -12,7 +12,6 @@ if [ "${NO_PRERUN_QCOW2}" = "0" ]; then
 	sed -i "s/BOOTDEV/PARTUUID=${BOOT_PARTUUID}/" "${ROOTFS_DIR}/etc/fstab"
 	sed -i "s/ROOTDEV/PARTUUID=${ROOT_PARTUUID}/" "${ROOTFS_DIR}/etc/fstab"
 
-	sed -i "s/ROOTDEV/PARTUUID=${ROOT_PARTUUID}/" "${ROOTFS_DIR}/boot/cmdline.txt"
-
+	sed -i "s/ROOTDEV/PARTUUID=${ROOT_PARTUUID}/" "${ROOTFS_DIR}/boot/firmware/cmdline.txt"
 fi
 
diff --git a/export-image/05-finalise/01-run.sh b/export-image/05-finalise/01-run.sh
index f2d900940e..87ede120fa 100755
--- a/export-image/05-finalise/01-run.sh
+++ b/export-image/05-finalise/01-run.sh
@@ -7,7 +7,10 @@ EXAMPLE_DIR="${STAGE_WORK_DIR}/examples"
 mkdir -p "${EXAMPLE_DIR}"
 cp -p "${ROOTFS_DIR}"/home/${FIRST_USER_NAME}/zips/* "${EXAMPLE_DIR}/"
 
+sed -i 's/^update_initramfs=.*/update_initramfs=all/' "${ROOTFS_DIR}/etc/initramfs-tools/update-initramfs.conf"
+
 on_chroot << EOF
+update-initramfs -u
 if [ -x /etc/init.d/fake-hwclock ]; then
 	/etc/init.d/fake-hwclock stop
 fi
@@ -57,7 +60,11 @@ rm -f "${ROOTFS_DIR}/root/.vnc/private.key"
 rm -f "${ROOTFS_DIR}/etc/vnc/updateid"
 
 update_issue "$(basename "${EXPORT_DIR}")"
-install -m 644 "${ROOTFS_DIR}/etc/rpi-issue" "${ROOTFS_DIR}/boot/issue.txt"
+install -m 644 "${ROOTFS_DIR}/etc/rpi-issue" "${ROOTFS_DIR}/boot/firmware/issue.txt"
+if ! [ -L "${ROOTFS_DIR}/boot/issue.txt" ]; then
+	ln -s firmware/issue.txt "${ROOTFS_DIR}/boot/issue.txt"
+fi
+
 
 cp "$ROOTFS_DIR/etc/rpi-issue" "$INFO_FILE"
 
diff --git a/export-image/prerun.sh b/export-image/prerun.sh
index c3412c255f..a5f94e93ac 100755
--- a/export-image/prerun.sh
+++ b/export-image/prerun.sh
@@ -10,8 +10,8 @@ if [ "${NO_PRERUN_QCOW2}" = "0" ]; then
 	rm -rf "${ROOTFS_DIR}"
 	mkdir -p "${ROOTFS_DIR}"
 
-	BOOT_SIZE="$((256 * 1024 * 1024))"
-	ROOT_SIZE=$(du --apparent-size -s "${EXPORT_ROOTFS_DIR}" --exclude var/cache/apt/archives --exclude boot --block-size=1 | cut -f 1)
+	BOOT_SIZE="$((512 * 1024 * 1024))"
+	ROOT_SIZE=$(du --apparent-size -s "${EXPORT_ROOTFS_DIR}" --exclude var/cache/apt/archives --exclude boot/firmware --block-size=1 | cut -f 1)
 
 	# All partition sizes and starts will be aligned to this size
 	ALIGN="$((4 * 1024 * 1024))"
@@ -35,7 +35,7 @@ if [ "${NO_PRERUN_QCOW2}" = "0" ]; then
 
 	echo "Creating loop device..."
 	cnt=0
-	until LOOP_DEV="$(losetup --show --find --partscan "$IMG_FILE")"; do
+	until ensure_next_loopdev && LOOP_DEV="$(losetup --show --find --partscan "$IMG_FILE")"; do
 		if [ $cnt -lt 5 ]; then
 			cnt=$((cnt + 1))
 			echo "Error in losetup.  Retrying..."
@@ -55,13 +55,13 @@ if [ "${NO_PRERUN_QCOW2}" = "0" ]; then
 		ROOT_FEATURES="^$FEATURE,$ROOT_FEATURES"
 	fi
 	done
-	mkdosfs -n boot -F 32 -s 4 -v "$BOOT_DEV" > /dev/null
+	mkdosfs -n bootfs -F 32 -s 4 -v "$BOOT_DEV" > /dev/null
 	mkfs.ext4 -L rootfs -O "$ROOT_FEATURES" "$ROOT_DEV" > /dev/null
 
 	mount -v "$ROOT_DEV" "${ROOTFS_DIR}" -t ext4
-	mkdir -p "${ROOTFS_DIR}/boot"
-	mount -v "$BOOT_DEV" "${ROOTFS_DIR}/boot" -t vfat
+	mkdir -p "${ROOTFS_DIR}/boot/firmware"
+	mount -v "$BOOT_DEV" "${ROOTFS_DIR}/boot/firmware" -t vfat
 
-	rsync -aHAXx --exclude /var/cache/apt/archives --exclude /boot "${EXPORT_ROOTFS_DIR}/" "${ROOTFS_DIR}/"
-	rsync -rtx "${EXPORT_ROOTFS_DIR}/boot/" "${ROOTFS_DIR}/boot/"
+	rsync -aHAXx --exclude /var/cache/apt/archives --exclude /boot/firmware "${EXPORT_ROOTFS_DIR}/" "${ROOTFS_DIR}/"
+	rsync -rtx "${EXPORT_ROOTFS_DIR}/boot/firmware/" "${ROOTFS_DIR}/boot/firmware/"
 fi
diff --git a/scripts/common b/scripts/common
index cda27abf77..b71ec35720 100644
--- a/scripts/common
+++ b/scripts/common
@@ -87,11 +87,27 @@ on_chroot() {
 		mount --bind /sys "${ROOTFS_DIR}/sys"
 	fi
 
+	if ! mount | grep -q "$(realpath "${ROOTFS_DIR}"/run)"; then
+		mount -t tmpfs  tmpfs "${ROOTFS_DIR}/run"
+	fi
+
+	if ! mount | grep -q "$(realpath "${ROOTFS_DIR}"/tmp)"; then
+		mount -t tmpfs  tmpfs "${ROOTFS_DIR}/tmp"
+	fi
+
 	capsh $CAPSH_ARG "--chroot=${ROOTFS_DIR}/" -- -e "$@"
 }
 export -f on_chroot
 
 update_issue() {
-	echo -e "${IMG_NAME} ${IMG_VERSION} built on ${IMG_DATE}\nGenerated using ${PI_GEN}, ${PI_GEN_REPO}, ${GIT_HASH}, ${1}" > "${ROOTFS_DIR}/etc/rpi-issue"
+	echo -e "${PI_GEN_RELEASE} ${IMG_VERSION} built on ${IMG_DATE}\nGenerated using ${PI_GEN}, ${PI_GEN_REPO}, ${GIT_HASH}, ${1}" > "${ROOTFS_DIR}/etc/rpi-issue"
 }
 export -f update_issue
+
+ensure_next_loopdev() {
+	local loopdev
+	loopdev="$(losetup -f)"
+	loopmaj="$(echo "$loopdev" | sed -E 's/.*[^0-9]*?([0-9]+)$/\1/')"
+	[[ -b "$loopdev" ]] || mknod "$loopdev" b 7 "$loopmaj"
+}
+export -f ensure_next_loopdev
diff --git a/stage0/00-configure-apt/00-run.sh b/stage0/00-configure-apt/00-run.sh
index 96e6be38dd..c962c35762 100755
--- a/stage0/00-configure-apt/00-run.sh
+++ b/stage0/00-configure-apt/00-run.sh
@@ -12,7 +12,8 @@ else
 	rm -f "${ROOTFS_DIR}/etc/apt/apt.conf.d/51cache"
 fi
 
-cat files/raspberrypi.gpg.key | gpg --dearmor > "${ROOTFS_DIR}/etc/apt/trusted.gpg.d/raspberrypi-archive-stable.gpg"
+cat files/raspberrypi.gpg.key | gpg --dearmor > "${STAGE_WORK_DIR}/raspberrypi-archive-stable.gpg"
+install -m 644 "${STAGE_WORK_DIR}/raspberrypi-archive-stable.gpg" "${ROOTFS_DIR}/etc/apt/trusted.gpg.d/"
 on_chroot << EOF
 dpkg --add-architecture armhf
 apt-get update
diff --git a/stage0/00-configure-apt/files/raspi.list b/stage0/00-configure-apt/files/raspi.list
index 41c5a70755..5f889b16a8 100644
--- a/stage0/00-configure-apt/files/raspi.list
+++ b/stage0/00-configure-apt/files/raspi.list
@@ -1,3 +1,3 @@
-deb http://archive.raspberrypi.org/debian/ RELEASE main
+deb http://archive.raspberrypi.com/debian/ RELEASE main
 # Uncomment line below then 'apt-get update' to enable 'apt-get source'
-#deb-src http://archive.raspberrypi.org/debian/ RELEASE main
+#deb-src http://archive.raspberrypi.com/debian/ RELEASE main
diff --git a/stage0/00-configure-apt/files/sources.list b/stage0/00-configure-apt/files/sources.list
index 51290f6806..13697cec09 100644
--- a/stage0/00-configure-apt/files/sources.list
+++ b/stage0/00-configure-apt/files/sources.list
@@ -1,7 +1,7 @@
-deb http://deb.debian.org/debian RELEASE main contrib non-free
-deb http://security.debian.org/debian-security RELEASE-security main contrib non-free
-deb http://deb.debian.org/debian RELEASE-updates main contrib non-free
+deb http://deb.debian.org/debian RELEASE main contrib non-free non-free-firmware
+deb http://deb.debian.org/debian-security/ RELEASE-security main contrib non-free non-free-firmware
+deb http://deb.debian.org/debian RELEASE-updates main contrib non-free non-free-firmware
 # Uncomment deb-src lines below then 'apt-get update' to enable 'apt-get source'
-#deb-src http://deb.debian.org/debian RELEASE main contrib non-free
-#deb-src http://security.debian.org/debian-security RELEASE-security main contrib non-free
-#deb-src http://deb.debian.org/debian RELEASE-updates main contrib non-free
+#deb-src http://deb.debian.org/debian RELEASE main contrib non-free non-free-firmware
+#deb-src http://deb.debian.org/debian-security/ RELEASE-security main contrib non-free non-free-firmware
+#deb-src http://deb.debian.org/debian RELEASE-updates main contrib non-free non-free-firmware
diff --git a/stage0/02-firmware/01-packages b/stage0/02-firmware/01-packages
index b166aa8dff..a1c3135105 100644
--- a/stage0/02-firmware/01-packages
+++ b/stage0/02-firmware/01-packages
@@ -1,2 +1,6 @@
-raspberrypi-bootloader
-raspberrypi-kernel
+initramfs-tools
+raspi-firmware
+linux-image-rpi-v8
+linux-image-rpi-2712
+linux-headers-rpi-v8
+linux-headers-rpi-2712
diff --git a/stage0/02-firmware/02-run.sh b/stage0/02-firmware/02-run.sh
new file mode 100755
index 0000000000..0b2bca9625
--- /dev/null
+++ b/stage0/02-firmware/02-run.sh
@@ -0,0 +1,3 @@
+#!/bin/bash -e
+
+sed -i 's/^update_initramfs=.*/update_initramfs=no/' "${ROOTFS_DIR}/etc/initramfs-tools/update-initramfs.conf"
diff --git a/stage0/prerun.sh b/stage0/prerun.sh
index e4f85f192a..da6f50abea 100755
--- a/stage0/prerun.sh
+++ b/stage0/prerun.sh
@@ -1,6 +1,6 @@
 #!/bin/bash -e
 
-if [ "$RELEASE" != "bullseye" ]; then
+if [ "$RELEASE" != "bookworm" ]; then
 	echo "WARNING: RELEASE does not match the intended option for this branch."
 	echo "         Please check the relevant README.md section."
 fi
diff --git a/stage1/00-boot-files/00-run.sh b/stage1/00-boot-files/00-run.sh
index bc61397d9d..ddb0f5b22b 100755
--- a/stage1/00-boot-files/00-run.sh
+++ b/stage1/00-boot-files/00-run.sh
@@ -1,4 +1,17 @@
 #!/bin/bash -e
 
-install -m 644 files/cmdline.txt "${ROOTFS_DIR}/boot/"
-install -m 644 files/config.txt "${ROOTFS_DIR}/boot/"
+mkdir -p "${ROOTFS_DIR}/boot/firmware"
+
+if ! [ -L "${ROOTFS_DIR}/boot/overlays" ]; then
+	ln -s firmware/overlays "${ROOTFS_DIR}/boot/overlays"
+fi
+
+install -m 644 files/cmdline.txt "${ROOTFS_DIR}/boot/firmware/"
+if ! [ -L "${ROOTFS_DIR}/boot/cmdline.txt" ]; then
+	ln -s firmware/cmdline.txt "${ROOTFS_DIR}/boot/cmdline.txt"
+fi
+
+install -m 644 files/config.txt "${ROOTFS_DIR}/boot/firmware/"
+if ! [ -L "${ROOTFS_DIR}/boot/config.txt" ]; then
+	ln -s firmware/config.txt "${ROOTFS_DIR}/boot/config.txt"
+fi
diff --git a/stage1/00-boot-files/files/config.txt b/stage1/00-boot-files/files/config.txt
index 7e3f252973..b8d7317d8b 100644
--- a/stage1/00-boot-files/files/config.txt
+++ b/stage1/00-boot-files/files/config.txt
@@ -1,53 +1,14 @@
 # For more options and information see
-# http://rpf.io/configtxt
+# http://rptl.io/configtxt
 # Some settings may impact device functionality. See link above for details
 
-# uncomment if you get no picture on HDMI for a default "safe" mode
-#hdmi_safe=1
-
-# uncomment the following to adjust overscan. Use positive numbers if console
-# goes off screen, and negative if there is too much border
-#overscan_left=16
-#overscan_right=16
-#overscan_top=16
-#overscan_bottom=16
-
-# uncomment to force a console size. By default it will be display's size minus
-# overscan.
-#framebuffer_width=1280
-#framebuffer_height=720
-
-# uncomment if hdmi display is not detected and composite is being output
-#hdmi_force_hotplug=1
-
-# uncomment to force a specific HDMI mode (this will force VGA)
-#hdmi_group=1
-#hdmi_mode=1
-
-# uncomment to force a HDMI mode rather than DVI. This can make audio work in
-# DMT (computer monitor) modes
-#hdmi_drive=2
-
-# uncomment to increase signal to HDMI, if you have interference, blanking, or
-# no display
-#config_hdmi_boost=4
-
-# uncomment for composite PAL
-#sdtv_mode=2
-
-#uncomment to overclock the arm. 700 MHz is the default.
-#arm_freq=800
-
 # Uncomment some or all of these to enable the optional hardware interfaces
 #dtparam=i2c_arm=on
 #dtparam=i2s=on
 #dtparam=spi=on
 
-# Uncomment this to enable infrared communication.
-#dtoverlay=gpio-ir,gpio_pin=17
-#dtoverlay=gpio-ir-tx,gpio_pin=18
-
-# Additional overlays and parameters are documented /boot/overlays/README
+# Additional overlays and parameters are documented
+# /boot/firmware/overlays/README
 
 # Enable audio (loads snd_bcm2835)
 dtparam=audio=on
@@ -74,16 +35,26 @@ camera_auto_detect=1
 # Automatically load overlays for detected DSI displays
 display_auto_detect=1
 
+# Automatically load initramfs files, if found
+auto_initramfs=1
+
 # Enable DRM VC4 V3D driver
 dtoverlay=vc4-kms-v3d
 max_framebuffers=2
 
+# Don't have the firmware create an initial video= setting in cmdline.txt.
+# Use the kernel's default instead.
+disable_fw_kms_setup=1
+
 # Run in 64-bit mode
 arm_64bit=1
 
 # Disable compensation for displays with overscan
 disable_overscan=1
 
+# Run as fast as firmware / board allows
+arm_boost=1
+
 [cm4]
 # Enable host mode on the 2711 built-in XHCI USB controller.
 # This line should be removed if the legacy DWC2 controller is required
@@ -92,8 +63,3 @@ otg_mode=1
 
 [all]
 
-[pi4]
-# Run as fast as firmware / board allows
-arm_boost=1
-
-[all]
diff --git a/stage1/01-sys-tweaks/files/fstab b/stage1/01-sys-tweaks/files/fstab
index 198add3d36..a0b209ef36 100644
--- a/stage1/01-sys-tweaks/files/fstab
+++ b/stage1/01-sys-tweaks/files/fstab
@@ -1,5 +1,5 @@
 proc            /proc           proc    defaults          0       0
-BOOTDEV  /boot           vfat    defaults          0       2
+BOOTDEV  /boot/firmware  vfat    defaults          0       2
 ROOTDEV  /               ext4    defaults,noatime  0       1
 tmpfs           /tmp            tmpfs   nosuid,nodev      0       0
 tmpfs           /var/log        tmpfs   nosuid,nodev      0       0
diff --git a/stage1/03-install-packages/00-packages b/stage1/03-install-packages/00-packages
index 99e043c370..2e864f6f8c 100644
--- a/stage1/03-install-packages/00-packages
+++ b/stage1/03-install-packages/00-packages
@@ -1,2 +1,2 @@
-libraspberrypi-bin libraspberrypi0 raspi-config ca-certificates
+ca-certificates
 systemd-timesyncd
diff --git a/stage2/01-sys-tweaks/00-packages b/stage2/01-sys-tweaks/00-packages
index a3cac3893b..90e88b1d6f 100644
--- a/stage2/01-sys-tweaks/00-packages
+++ b/stage2/01-sys-tweaks/00-packages
@@ -3,18 +3,22 @@ ntp
 daemontools daemontools-run
 build-essential gdb
 busybox-syslogd
-ssh less fbset sudo psmisc strace ed ncdu crda
+ssh less fbset sudo psmisc strace ed ncdu
 console-setup keyboard-configuration debconf-utils parted
 build-essential manpages-dev bash-completion gdb pkg-config
 python-is-python3
+v4l-utils
 gdbserver
-python3-numpy libopenblas-base
-python3-rpi.gpio v4l-utils
+python3-numpy libopenblas-dev
+gpiod python3-libgpiod
 python3-gpiozero
+pigpio python3-pigpio raspi-gpio python3-rpi.gpio
+python3-spidev
+python3-smbus2
 avahi-daemon
 lua5.1
 luajit
-hardlink ca-certificates curl
+ca-certificates curl
 fake-hwclock usbutils
 dosfstools
 dphys-swapfile
@@ -27,15 +31,14 @@ libmtp-runtime
 htop
 policykit-1
 ssh-import-id
-rng-tools
 ethtool
 ntfs-3g
 pciutils
 rpi-eeprom
-raspinfo
-python3-picamera
+raspi-utils
 udisks2
 unzip zip p7zip-full
 file
 kms++-utils
 openjdk-17-jdk
+python3-venv
diff --git a/stage2/01-sys-tweaks/00-packages-nr b/stage2/01-sys-tweaks/00-packages-nr
index 453ada8be2..6bdb60069e 100644
--- a/stage2/01-sys-tweaks/00-packages-nr
+++ b/stage2/01-sys-tweaks/00-packages-nr
@@ -1,4 +1,3 @@
 cifs-utils
 libcamera-apps-lite
 mkvtoolnix
-python3-picamera2
diff --git a/stage2/01-sys-tweaks/00-patches/07-resize-init.diff b/stage2/01-sys-tweaks/00-patches/07-resize-init.diff
index dfc01d4950..e508a9f525 100644
--- a/stage2/01-sys-tweaks/00-patches/07-resize-init.diff
+++ b/stage2/01-sys-tweaks/00-patches/07-resize-init.diff
@@ -1,5 +1,5 @@
---- stage2.orig/rootfs/boot/cmdline.txt
-+++ stage2/rootfs/boot/cmdline.txt
+--- stage2.orig/rootfs/boot/firmware/cmdline.txt
++++ stage2/rootfs/boot/firmware/cmdline.txt
 @@ -1 +1 @@
 -console=serial0,115200 console=tty1 root=ROOTDEV rootfstype=ext4 fsck.repair=yes rootwait
 +console=serial0,115200 console=tty1 root=ROOTDEV rootfstype=ext4 fsck.repair=yes rootwait quiet init=/usr/lib/raspberrypi-sys-mods/firstboot
diff --git a/stage2/01-sys-tweaks/01-run.sh b/stage2/01-sys-tweaks/01-run.sh
index e0c4b717e1..f96b74b45e 100755
--- a/stage2/01-sys-tweaks/01-run.sh
+++ b/stage2/01-sys-tweaks/01-run.sh
@@ -34,17 +34,17 @@ ln -s /run /var/run
 ln -s /tmp /var/spool
 ln -s /tmp /var/lock
 sed -i -e 's/d \/var\/spool/#d \/var\/spool/' /usr/lib/tmpfiles.d/var.conf
-sed -i -e 's/\/var\/lib\/ntp/\/var\/tmp/' /etc/ntp.conf
 EOF
+#sed -i -e 's/\/var\/lib\/ntp/\/var\/tmp/' /etc/ntp.conf
 
 cat files/bash.bashrc >> "${ROOTFS_DIR}/etc/bash.bashrc"
 
 cat files/bash.logout >> "${ROOTFS_DIR}/etc/bash.bash_logout"
 
+#systemctl disable nfs-common
+#systemctl disable rpcbind
 on_chroot << EOF
 systemctl disable hwclock.sh
-systemctl disable nfs-common
-systemctl disable rpcbind
 if [ "${ENABLE_SSH}" == "1" ]; then
 	systemctl enable ssh
 else
diff --git a/stage3/01-sys-tweaks/00-packages b/stage3/01-sys-tweaks/00-packages
index 77170e2e12..030c5f217d 100644
--- a/stage3/01-sys-tweaks/00-packages
+++ b/stage3/01-sys-tweaks/00-packages
@@ -1,20 +1,22 @@
 cmake
-libpython3.9-minimal
-libpython3.9-dev
-python3.9-minimal
-python3.9-dev
+libprotobuf-dev
+libpython3.11-minimal
+libpython3.11-dev
+ninja-build
+protobuf-compiler
+python3.11-minimal
+python3.11-dev
 python3-distutils
 python3-jinja2
 python3-numpy
 python3-pip
-python3-pycoral
 libedgetpu1-std
 libedgetpu-dev
 libtbb-dev
-libtbb2
+libtbbmalloc2
+libssh-dev
 libusb-1.0-0-dev
 libz-dev
 swig
 pigpio
-python-pigpio
 python3-pigpio
diff --git a/stage3/01-sys-tweaks/00-packages-nr b/stage3/01-sys-tweaks/00-packages-nr
index ebe1830774..1bc22fa8db 100644
--- a/stage3/01-sys-tweaks/00-packages-nr
+++ b/stage3/01-sys-tweaks/00-packages-nr
@@ -1,4 +1,4 @@
 libopenblas-dev liblapacke-dev
-libavcodec-dev libavformat-dev libswscale-dev libavresample-dev
+libavcodec-dev libavformat-dev libswscale-dev
 libgtk-3-dev
 libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev
diff --git a/stage3/01-sys-tweaks/01-run.sh b/stage3/01-sys-tweaks/01-run.sh
index 54d49b904f..c1d7430ff0 100755
--- a/stage3/01-sys-tweaks/01-run.sh
+++ b/stage3/01-sys-tweaks/01-run.sh
@@ -42,13 +42,13 @@ pushd ${DOWNLOAD_DIR}
 
 # opencv sources
 wget -nc -nv \
-    https://github.com/opencv/opencv/archive/4.6.0.tar.gz
-wget -nc -nv -O contrib-4.6.0.tar.gz \
-    https://github.com/opencv/opencv_contrib/archive/4.6.0.tar.gz
+    https://github.com/opencv/opencv/archive/4.8.0.tar.gz
+wget -nc -nv -O contrib-4.8.0.tar.gz \
+    https://github.com/opencv/opencv_contrib/archive/4.8.0.tar.gz
 
 # allwpilib
 wget -nc -nv -O allwpilib.tar.gz \
-    https://github.com/wpilibsuite/allwpilib/archive/v2023.4.1.tar.gz
+    https://github.com/wpilibsuite/allwpilib/archive/v2024.3.1.tar.gz
 
 ## robotpy-build
 #wget -nc -nv -O robotpy-build.tar.gz \
@@ -88,10 +88,10 @@ install -v -d ${EXTRACT_DIR}
 pushd ${EXTRACT_DIR}
 
 # opencv
-rm -rf opencv-4.6.0
-tar xzf "${DOWNLOAD_DIR}/4.6.0.tar.gz"
-tar xzf "${DOWNLOAD_DIR}/contrib-4.6.0.tar.gz"
-pushd opencv-4.6.0
+rm -rf opencv-4.8.0
+tar xzf "${DOWNLOAD_DIR}/4.8.0.tar.gz"
+tar xzf "${DOWNLOAD_DIR}/contrib-4.8.0.tar.gz"
+pushd opencv-4.8.0
 sed -i -e 's/javac sourcepath/javac target="1.8" source="1.8" sourcepath/' modules/java/jar/build.xml.in
 # disable extraneous data warnings; these are common with USB cameras
 sed -i -e '/JWRN_EXTRANEOUS_DATA/d' 3rdparty/libjpeg/jdmarker.c
@@ -105,35 +105,6 @@ mv allwpilib-* allwpilib
 pushd allwpilib
 popd
 
-# robotpy-build
-#tar xzf "${DOWNLOAD_DIR}/robotpy-build.tar.gz"
-#mv robotpy-build-* robotpy-build
-
-# pybind11
-#tar xzf "${DOWNLOAD_DIR}/pybind11.tar.gz"
-#rmdir robotpy-build/robotpy_build/pybind11
-#mv pybind11-* robotpy-build/robotpy_build/pybind11
-
-# robotpy-wpiutil
-#tar xzf "${DOWNLOAD_DIR}/robotpy-wpiutil.tar.gz"
-#mv robotpy-wpiutil-* robotpy-wpiutil
-#echo "__version__ = '2023.1.1.0'" > robotpy-wpiutil/wpiutil/version.py
-
-# robotpy-wpinet
-#tar xzf "${DOWNLOAD_DIR}/robotpy-wpinet.tar.gz"
-#mv robotpy-wpinet-* robotpy-wpinet
-#echo "__version__ = '2023.1.1.0'" > robotpy-wpinet/wpinet/version.py
-
-# pyntcore
-#tar xzf "${DOWNLOAD_DIR}/pyntcore.tar.gz"
-#mv pyntcore-* pyntcore
-#echo "__version__ = '2023.1.1.0'" > pyntcore/ntcore/version.py
-
-# robotpy-cscore
-#tar xzf "${DOWNLOAD_DIR}/robotpy-cscore.tar.gz"
-#mv robotpy-cscore-* robotpy-cscore
-#echo "__version__ = '2023.1.1.0'" > robotpy-cscore/cscore/version.py
-
 # pixy2
 tar xzf "${DOWNLOAD_DIR}/pixy2.tar.gz"
 rm -rf pixy2
@@ -164,34 +135,34 @@ build_opencv () {
     rm -rf $1
     mkdir -p $1
     pushd $1
-    cmake "${EXTRACT_DIR}/opencv-4.6.0" \
+    cmake "${EXTRACT_DIR}/opencv-4.8.0" \
+	-G Ninja \
 	-DWITH_FFMPEG=OFF \
         -DBUILD_JPEG=ON \
         -DBUILD_TIFF=ON \
         -DBUILD_TESTS=OFF \
-        -DPython_ADDITIONAL_VERSIONS=3.9 \
+        -DPython_ADDITIONAL_VERSIONS=3.11 \
         -DBUILD_JAVA=$3 \
         -DENABLE_CXX11=ON \
         -DBUILD_SHARED_LIBS=$3 \
         -DCMAKE_BUILD_TYPE=$2 \
         -DCMAKE_DEBUG_POSTFIX=d \
-        -DCMAKE_TOOLCHAIN_FILE=${ROOTFS_DIR}/usr/src/opencv-4.6.0/platforms/linux/aarch64-gnu.toolchain.cmake \
+        -DCMAKE_TOOLCHAIN_FILE=${ROOTFS_DIR}/usr/src/opencv-4.8.0/platforms/linux/aarch64-gnu.toolchain.cmake \
         -DARM_LINUX_SYSROOT=${ROOTFS_DIR} \
         -DCMAKE_SYSROOT=${ROOTFS_DIR} \
-        -DCMAKE_MAKE_PROGRAM=make \
         -DENABLE_NEON=ON \
         -DWITH_TBB=$3 \
         -DBUILD_opencv_python3=$3 \
-        -DPYTHON3_INCLUDE_PATH=${ROOTFS_DIR}/usr/include/python3.9 \
-        -DPYTHON3_NUMPY_INCLUDE_DIRS=${ROOTFS_DIR}/usr/include/python3.9/numpy \
+        -DPYTHON3_INCLUDE_PATH=${ROOTFS_DIR}/usr/include/python3.11 \
+        -DPYTHON3_NUMPY_INCLUDE_DIRS=${ROOTFS_DIR}/usr/include/python3.11/numpy \
         -DOPENCV_EXTRA_FLAGS_DEBUG=-Og \
 	-DOPENCV_GENERATE_PKGCONFIG=ON \
         -DCMAKE_MODULE_PATH=${SUB_STAGE_DIR}/files \
         -DCMAKE_INSTALL_PREFIX=/usr/local/frc$4 \
-	-DOPENCV_EXTRA_MODULES_PATH=${EXTRACT_DIR}/opencv_contrib-4.6.0/modules/aruco \
+	-DOPENCV_EXTRA_MODULES_PATH=${EXTRACT_DIR}/opencv_contrib-4.8.0/modules/aruco \
         || exit 1
-    make -j${NCPU} || exit 1
-    make DESTDIR=${ROOTFS_DIR} install || exit 1
+    ninja || exit 1
+    env DESTDIR=${ROOTFS_DIR} ninja install || exit 1
     popd
 }
 
@@ -200,19 +171,19 @@ build_opencv build/opencv-build Release ON "" || exit 1
 build_opencv build/opencv-static Release OFF "-static" || exit 1
 
 # fix up java install
-cp -p ${ROOTFS_DIR}/usr/local/frc/share/java/opencv4/libopencv_java460*.so "${ROOTFS_DIR}/usr/local/frc/lib/"
+cp -p ${ROOTFS_DIR}/usr/local/frc/share/java/opencv4/libopencv_java480*.so "${ROOTFS_DIR}/usr/local/frc/lib/"
 mkdir -p "${ROOTFS_DIR}/usr/local/frc/java"
-cp -p "${ROOTFS_DIR}/usr/local/frc/share/java/opencv4/opencv-460.jar" "${ROOTFS_DIR}/usr/local/frc/java/"
+cp -p "${ROOTFS_DIR}/usr/local/frc/share/java/opencv4/opencv-480.jar" "${ROOTFS_DIR}/usr/local/frc/java/"
 
 # the opencv build names the python .so with the build platform name
 # instead of the target platform, so rename it
-pushd "${ROOTFS_DIR}/usr/local/frc/lib/python3.9/site-packages/cv2/python-3.9"
-mv cv2.cpython-39-*-gnu.so cv2.cpython-39-aarch64-linux-gnu.so
-mv cv2d.cpython-39-*-gnu.so cv2d.cpython-39-aarch64-linux-gnu.so
+pushd "${ROOTFS_DIR}/usr/local/frc/lib/python3.11/dist-packages/cv2/python-3.11"
+mv cv2.cpython-311-*-gnu.so cv2.cpython-311-aarch64-linux-gnu.so
+mv cv2d.cpython-311-*-gnu.so cv2d.cpython-311-aarch64-linux-gnu.so
 popd
 
-# link python package to site-packages
-ln -sf /usr/local/frc/lib/python3.9/site-packages/cv2 "${ROOTFS_DIR}/usr/local/lib/python3.9/dist-packages/cv2"
+# link python package to dist-packages
+ln -sf /usr/local/frc/lib/python3.11/dist-packages/cv2 "${ROOTFS_DIR}/usr/local/lib/python3.11/dist-packages/cv2"
 
 #
 # Build wpiutil, cscore, ntcore, cameraserver
@@ -223,22 +194,24 @@ build_wpilib () {
     mkdir -p $1
     pushd $1
     cmake "${EXTRACT_DIR}/allwpilib" \
+	-G Ninja \
         -DWITH_GUI=OFF \
         -DWITH_TESTS=OFF \
         -DWITH_SIMULATION_MODULES=OFF \
-	-DWPILIB_TARGET_WARNINGS=-Wno-deprecated-declarations \
+	-DWPILIB_TARGET_WARNINGS=-Wno-maybe-uninitialized \
         -DCMAKE_BUILD_TYPE=$2 \
-        -DCMAKE_TOOLCHAIN_FILE=${ROOTFS_DIR}/usr/src/opencv-4.6.0/platforms/linux/aarch64-gnu.toolchain.cmake \
+        -DCMAKE_TOOLCHAIN_FILE=${ROOTFS_DIR}/usr/src/opencv-4.8.0/platforms/linux/aarch64-gnu.toolchain.cmake \
         -DARM_LINUX_SYSROOT=${ROOTFS_DIR} \
         -DCMAKE_SYSROOT=${ROOTFS_DIR} \
         -DCMAKE_MODULE_PATH=${SUB_STAGE_DIR}/files \
-        -DOPENCV_JAR_FILE=`ls ${ROOTFS_DIR}/usr/local/frc/java/opencv-460.jar` \
-        -DOPENCV_JNI_FILE=`ls ${ROOTFS_DIR}/usr/local/frc/lib/libopencv_java460.so` \
+        -DOPENCV_JAR_FILE=`ls ${ROOTFS_DIR}/usr/local/frc/java/opencv-480.jar` \
+        -DOPENCV_JNI_FILE=`ls ${ROOTFS_DIR}/usr/local/frc/lib/libopencv_java480.so` \
         -DOpenCV_DIR=${ROOTFS_DIR}/usr/local/frc/share/opencv4 \
         -DTHREADS_PTHREAD_ARG=-pthread \
         -DCMAKE_INSTALL_PREFIX=/usr/local/frc \
         || exit 1
-    make -j${NCPU} || exit 1
+    ninja || exit 1
+    env DESTDIR=${ROOTFS_DIR} ninja install || exit 1
     popd
 }
 
@@ -251,12 +224,13 @@ build_static_wpilib() {
     mkdir -p $1
     pushd $1
     cmake "${EXTRACT_DIR}/allwpilib" \
+	-G Ninja \
         -DWITH_GUI=OFF \
         -DWITH_TESTS=OFF \
         -DWITH_SIMULATION_MODULES=OFF \
-	-DWPILIB_TARGET_WARNINGS=-Wno-deprecated-declarations \
+	-DWPILIB_TARGET_WARNINGS=-Wno-maybe-uninitialized \
         -DCMAKE_BUILD_TYPE=Release \
-        -DCMAKE_TOOLCHAIN_FILE=${ROOTFS_DIR}/usr/src/opencv-4.6.0/platforms/linux/aarch64-gnu.toolchain.cmake \
+        -DCMAKE_TOOLCHAIN_FILE=${ROOTFS_DIR}/usr/src/opencv-4.8.0/platforms/linux/aarch64-gnu.toolchain.cmake \
         -DARM_LINUX_SYSROOT=${ROOTFS_DIR} \
         -DCMAKE_MODULE_PATH=${SUB_STAGE_DIR}/files \
         -DOpenCV_DIR=${ROOTFS_DIR}/usr/local/frc/share/OpenCV \
@@ -265,87 +239,19 @@ build_static_wpilib() {
         -DTHREADS_PTHREAD_ARG=-pthread \
         -DCMAKE_INSTALL_PREFIX=/usr/local/frc-static \
         || exit 1
-    make -j${NCPU} || exit 1
+    ninja || exit 1
+    env DESTDIR=${ROOTFS_DIR} ninja install || exit 1
     popd
 }
 build_static_wpilib build/allwpilib-static || exit 1
 
-# manually install, since cmake install is a bit weirdly set up
-install -v -d "${ROOTFS_DIR}/usr/local/frc/bin"
-install -v -d "${ROOTFS_DIR}/usr/local/frc/include"
-install -v -d "${ROOTFS_DIR}/usr/local/frc/java"
-install -v -d "${ROOTFS_DIR}/usr/local/frc/lib"
-install -v -d "${ROOTFS_DIR}/usr/local/frc-static/lib"
-
-# built libs
-sh -c 'cd build/allwpilib-build/lib && tar cf - lib*' | \
-    sh -c "cd ${ROOTFS_DIR}/usr/local/frc/lib && tar xf -"
-sh -c 'cd build/allwpilib-build-debug/lib && tar cf - lib*' | \
-    sh -c "cd ${ROOTFS_DIR}/usr/local/frc/lib && tar xf -"
-sh -c 'cd build/allwpilib-static/lib && tar cf - lib*' | \
-    sh -c "cd ${ROOTFS_DIR}/usr/local/frc-static/lib && tar xf -"
-
-# built headers
-sh -c 'cd build/allwpilib-build/hal/gen && tar cf - .' | \
-    sh -c "cd ${ROOTFS_DIR}/usr/local/frc/include && tar xf -"
-sh -c 'cd build/allwpilib-build/ntcore/generated/main/native/include && tar cf - .' | \
-    sh -c "cd ${ROOTFS_DIR}/usr/local/frc/include && tar xf -"
-
-# built jars
-sh -c 'cd build/allwpilib-build/jar && tar cf - *.jar' | \
-    sh -c "cd ${ROOTFS_DIR}/usr/local/frc/java && tar xf -"
-
-# headers
-sh -c "cd ${EXTRACT_DIR}/allwpilib/wpiutil/src/main/native/include && tar cf - ." | \
-    sh -c "cd ${ROOTFS_DIR}/usr/local/frc/include && tar xf -"
-sh -c "cd ${EXTRACT_DIR}/allwpilib/wpiutil/src/main/native/thirdparty/fmtlib/include && tar cf - ." | \
-    sh -c "cd ${ROOTFS_DIR}/usr/local/frc/include && tar xf -"
-sh -c "cd ${EXTRACT_DIR}/allwpilib/wpiutil/src/main/native/thirdparty/ghc/include && tar cf - ." | \
-    sh -c "cd ${ROOTFS_DIR}/usr/local/frc/include && tar xf -"
-sh -c "cd ${EXTRACT_DIR}/allwpilib/wpiutil/src/main/native/thirdparty/json/include && tar cf - ." | \
-    sh -c "cd ${ROOTFS_DIR}/usr/local/frc/include && tar xf -"
-sh -c "cd ${EXTRACT_DIR}/allwpilib/wpiutil/src/main/native/thirdparty/llvm/include && tar cf - ." | \
-    sh -c "cd ${ROOTFS_DIR}/usr/local/frc/include && tar xf -"
-sh -c "cd ${EXTRACT_DIR}/allwpilib/wpiutil/src/main/native/thirdparty/memory/include && tar cf - ." | \
-    sh -c "cd ${ROOTFS_DIR}/usr/local/frc/include && tar xf -"
-sh -c "cd ${EXTRACT_DIR}/allwpilib/wpiutil/src/main/native/thirdparty/mpack/include && tar cf - ." | \
-    sh -c "cd ${ROOTFS_DIR}/usr/local/frc/include && tar xf -"
-sh -c "cd ${EXTRACT_DIR}/allwpilib/wpiutil/src/main/native/thirdparty/sigslot/include && tar cf - ." | \
-    sh -c "cd ${ROOTFS_DIR}/usr/local/frc/include && tar xf -"
-sh -c "cd ${EXTRACT_DIR}/allwpilib/wpinet/src/main/native/thirdparty/libuv/include && tar cf - ." | \
-    sh -c "cd ${ROOTFS_DIR}/usr/local/frc/include && tar xf -"
-sh -c "cd ${EXTRACT_DIR}/allwpilib/wpinet/src/main/native/thirdparty/tcpsockets/include && tar cf - ." | \
-    sh -c "cd ${ROOTFS_DIR}/usr/local/frc/include && tar xf -"
-sh -c "cd ${EXTRACT_DIR}/allwpilib/wpinet/src/main/native/include && tar cf - ." | \
-    sh -c "cd ${ROOTFS_DIR}/usr/local/frc/include && tar xf -"
-sh -c "cd ${EXTRACT_DIR}/allwpilib/cscore/src/main/native/include && tar cf - ." | \
-    sh -c "cd ${ROOTFS_DIR}/usr/local/frc/include && tar xf -"
-sh -c "cd ${EXTRACT_DIR}/allwpilib/ntcore/src/main/native/include && tar cf - ." | \
-    sh -c "cd ${ROOTFS_DIR}/usr/local/frc/include && tar xf -"
-sh -c "cd ${EXTRACT_DIR}/allwpilib/cameraserver/src/main/native/include && tar cf - ." | \
-    sh -c "cd ${ROOTFS_DIR}/usr/local/frc/include && tar xf -"
-sh -c "cd ${EXTRACT_DIR}/allwpilib/hal/src/main/native/include && tar cf - ." | \
-    sh -c "cd ${ROOTFS_DIR}/usr/local/frc/include && tar xf -"
-sh -c "cd ${EXTRACT_DIR}/allwpilib/wpimath/src/main/native/include && tar cf - ." | \
-    sh -c "cd ${ROOTFS_DIR}/usr/local/frc/include && tar xf -"
-sh -c "cd ${EXTRACT_DIR}/allwpilib/wpimath/src/main/native/thirdparty/drake/include && tar cf - ." | \
-    sh -c "cd ${ROOTFS_DIR}/usr/local/frc/include && tar xf -"
-sh -c "cd ${EXTRACT_DIR}/allwpilib/wpimath/src/main/native/thirdparty/eigen/include && tar cf - ." | \
-    sh -c "cd ${ROOTFS_DIR}/usr/local/frc/include && tar xf -"
-sh -c "cd ${EXTRACT_DIR}/allwpilib/wpimath/src/main/native/thirdparty/gcem/include && tar cf - ." | \
-    sh -c "cd ${ROOTFS_DIR}/usr/local/frc/include && tar xf -"
-sh -c "cd ${EXTRACT_DIR}/allwpilib/apriltag/src/main/native/include && tar cf - ." | \
-    sh -c "cd ${ROOTFS_DIR}/usr/local/frc/include && tar xf -"
-sh -c "cd ${EXTRACT_DIR}/allwpilib/wpilibc/src/main/native/include && tar cf - ." | \
-    sh -c "cd ${ROOTFS_DIR}/usr/local/frc/include && tar xf -"
-
 # executables (use static build to ensure they don't break)
 sh -c 'cd build/allwpilib-static/bin && tar cf - cscore_* netconsoleTee*' | \
     sh -c "cd ${ROOTFS_DIR}/usr/local/frc/bin && tar xf -"
 
 # pkgconfig files
 install -v -d "${ROOTFS_DIR}/usr/local/frc/lib/pkgconfig"
-install -m 644 ${SUB_STAGE_DIR}/files/pkgconfig/* "${ROOTFS_DIR}/usr/local/frc/lib/pkgconfig"
+install -m 644 ${SUB_STAGE_DIR}/files/pkgconfig/*.pc "${ROOTFS_DIR}/usr/local/frc/lib/pkgconfig"
 install -v -d "${ROOTFS_DIR}/usr/local/frc-static/lib/pkgconfig"
 for f in ${SUB_STAGE_DIR}/files/pkgconfig/*.pc; do
   install -m 644 $f "${ROOTFS_DIR}/usr/local/frc-static/lib/pkgconfig"
@@ -359,164 +265,23 @@ ln -sf ../frc/include "${ROOTFS_DIR}/usr/local/frc-static/include"
 rm -rf "${ROOTFS_DIR}/usr/local/frc-static/python"
 
 # fix up frc-static opencv pkgconfig Libs.private
-sed -i -e 's, -L/pi-gen[^ ]*,,g' "${ROOTFS_DIR}/usr/local/frc-static/lib/pkgconfig/opencv.pc"
+sed -i -e 's, -L/pi-gen[^ ]*,,g' "${ROOTFS_DIR}/usr/local/frc-static/lib/pkgconfig/opencv4.pc"
 
 popd
 
+ROBOTPY_REPO=https://frcmaven.wpi.edu/api/download/wpilib-python-release-2024
+ROBOTPY_VERSION=2024.3.1.0
+ROBOTPY_ARCH=aarch64
+
 on_chroot << EOF
-pip3 install https://www.tortall.net/~robotpy/wheels/2023/raspbian/robotpy_wpiutil-2023.4.1.0-cp39-cp39-linux_aarch64.whl
-pip3 install https://www.tortall.net/~robotpy/wheels/2023/raspbian/robotpy_wpinet-2023.4.1.0-cp39-cp39-linux_aarch64.whl
-pip3 install https://www.tortall.net/~robotpy/wheels/2023/raspbian/pyntcore-2023.4.1.1-cp39-cp39-linux_aarch64.whl
-pip3 install https://www.tortall.net/~robotpy/wheels/2023/raspbian/robotpy_cscore-2023.4.1.0-cp39-cp39-linux_aarch64.whl
-pip3 install https://www.tortall.net/~robotpy/wheels/2023/raspbian/robotpy_wpimath-2023.4.1.0-cp39-cp39-linux_aarch64.whl
-pip3 install https://www.tortall.net/~robotpy/wheels/2023/raspbian/robotpy_apriltag-2023.4.1.0-cp39-cp39-linux_aarch64.whl
+pip3 install --break-system-packages ${ROBOTPY_REPO}/robotpy-wpiutil/${ROBOTPY_VERSION}/robotpy_wpiutil-${ROBOTPY_VERSION}-cp311-cp311-linux_${ROBOTPY_ARCH}.whl
+pip3 install --break-system-packages ${ROBOTPY_REPO}/robotpy-wpinet/${ROBOTPY_VERSION}/robotpy_wpinet-${ROBOTPY_VERSION}-cp311-cp311-linux_${ROBOTPY_ARCH}.whl
+pip3 install --break-system-packages ${ROBOTPY_REPO}/pyntcore/${ROBOTPY_VERSION}/pyntcore-${ROBOTPY_VERSION}-cp311-cp311-linux_${ROBOTPY_ARCH}.whl
+pip3 install --break-system-packages ${ROBOTPY_REPO}/robotpy-cscore/${ROBOTPY_VERSION}/robotpy_cscore-${ROBOTPY_VERSION}-cp311-cp311-linux_${ROBOTPY_ARCH}.whl
+pip3 install --break-system-packages ${ROBOTPY_REPO}/robotpy-wpimath/${ROBOTPY_VERSION}/robotpy_wpimath-${ROBOTPY_VERSION}-cp311-cp311-linux_${ROBOTPY_ARCH}.whl
+pip3 install --break-system-packages ${ROBOTPY_REPO}/robotpy-apriltag/${ROBOTPY_VERSION}/robotpy_apriltag-${ROBOTPY_VERSION}-cp311-cp311-linux_${ROBOTPY_ARCH}.whl
 EOF
 
-
-### We install wheels instead of using this, but keeping it because it *almost* works
-#
-## these builds arepretty cpu-intensive, so we don't want to build it in a chroot,
-## and setup.py doesn't support cross-builds, so build it manually
-#pip3 install robotpy-build==2023.0.0
-#
-##
-## Build robotpy-wpiutil
-##
-#pushd ${EXTRACT_DIR}/robotpy-wpiutil
-#
-## install Python sources
-#sh -c 'tar cf - wpiutil' | \
-#    sh -c "cd ${ROOTFS_DIR}/usr/local/lib/python3.9/dist-packages && tar xf -"
-#
-## install blank _init_wpiutil.py
-#touch "${ROOTFS_DIR}/usr/local/lib/python3.9/dist-packages/wpiutil/_init_wpiutil.py"
-#
-## generate sources
-#python3 setup.py build_gen
-#
-## build module
-#aarch64-linux-gnu-g++ \
-#    --sysroot=${ROOTFS_DIR} \
-#    -g -O -Wall -fvisibility=hidden -shared -fPIC -std=c++20 \
-#    -o "${ROOTFS_DIR}/usr/local/lib/python3.9/dist-packages/_wpiutil.cpython-39-aarch64-linux-gnu.so" \
-#    -I build/temp.*/gensrc/* \
-#    -I../robotpy-build/robotpy_build/include \
-#    -I../robotpy-build/robotpy_build/pybind11/include \
-#    -Iwpiutil/src/type_casters \
-#    -Iwpiutil/rpy-include \
-#    `env PKG_CONFIG_LIBDIR=${PKG_CONFIG_LIBDIR}:${ROOTFS_DIR}/usr/local/frc/lib/pkgconfig pkg-config --cflags python3 wpiutil` \
-#    wpiutil/src/main.cpp \
-#    wpiutil/src/safethread_gil.cpp \
-#    wpiutil/src/stacktracehook.cpp \
-#    build/temp.*/gensrc/*/*.cpp \
-#    `env PKG_CONFIG_LIBDIR=${PKG_CONFIG_LIBDIR}:${ROOTFS_DIR}/usr/local/frc/lib/pkgconfig pkg-config --libs wpiutil` \
-#    || exit 1
-#
-#popd
-#
-#pip3 install robotpy-wpiutil==2023.1.1.0
-#
-##
-## Build robotpy-wpinet
-##
-#pushd ${EXTRACT_DIR}/robotpy-wpinet
-#
-## install Python sources
-#sh -c 'tar cf - wpinet' | \
-#    sh -c "cd ${ROOTFS_DIR}/usr/local/lib/python3.9/dist-packages && tar xf -"
-#
-## install blank _init_wpinet.py
-#touch "${ROOTFS_DIR}/usr/local/lib/python3.9/dist-packages/wpinet/_init_wpinet.py"
-#
-## generate sources
-#python3 setup.py build_gen
-#
-## build module
-#aarch64-linux-gnu-g++ \
-#    --sysroot=${ROOTFS_DIR} \
-#    -g -O -Wall -fvisibility=hidden -shared -fPIC -std=c++20 \
-#    -o "${ROOTFS_DIR}/usr/local/lib/python3.9/dist-packages/_wpinet.cpython-39-aarch64-linux-gnu.so" \
-#    -I build/temp.*/gensrc/* \
-#    -I../robotpy-build/robotpy_build/include \
-#    -I../robotpy-build/robotpy_build/pybind11/include \
-#    `env PKG_CONFIG_LIBDIR=${PKG_CONFIG_LIBDIR}:${ROOTFS_DIR}/usr/local/frc/lib/pkgconfig pkg-config --cflags python3 wpinet wpiutil` \
-#    wpinet/src/main.cpp \
-#    build/temp.*/gensrc/*/*.cpp \
-#    `env PKG_CONFIG_LIBDIR=${PKG_CONFIG_LIBDIR}:${ROOTFS_DIR}/usr/local/frc/lib/pkgconfig pkg-config --libs wpinet wpiutil` \
-#    || exit 1
-#
-#popd
-#
-#pip3 install robotpy-wpinet==2023.1.1.0
-#
-##
-## Build pyntcore
-##
-#pushd ${EXTRACT_DIR}/pyntcore
-#
-## install Python sources
-#sh -c 'tar cf - ntcore' | \
-#    sh -c "cd ${ROOTFS_DIR}/usr/local/lib/python3.9/dist-packages && tar xf -"
-#
-## install blank _init_ntcore.py
-#touch "${ROOTFS_DIR}/usr/local/lib/python3.9/dist-packages/cscore/_init_ntcore.py"
-#
-## generate sources
-#python3 setup.py build_gen
-#
-## build module
-#aarch64-linux-gnu-g++ \
-#    --sysroot=${ROOTFS_DIR} \
-#    -g -O -Wall -fvisibility=hidden -shared -fPIC -std=c++20 \
-#    -o "${ROOTFS_DIR}/usr/local/lib/python3.9/dist-packages/_cscore.cpython-39-aarch64-linux-gnu.so" \
-#    -I build/temp.*/gensrc/* \
-#    -I../robotpy-build/robotpy_build/include \
-#    -I../robotpy-build/robotpy_build/pybind11/include \
-#    `env PKG_CONFIG_LIBDIR=${PKG_CONFIG_LIBDIR}:${ROOTFS_DIR}/usr/local/frc/lib/pkgconfig pkg-config --cflags python3 ntcore wpiutil` \
-#    ntcore/src/ntcore.cpp \
-#    ntcore/src/nt_instance.cpp \
-#    ntcore/src/py2value.cpp \
-#    ntcore/src/pyentry.cpp \
-#    build/temp.*/gensrc/*/*.cpp \
-#    `env PKG_CONFIG_LIBDIR=${PKG_CONFIG_LIBDIR}:${ROOTFS_DIR}/usr/local/frc/lib/pkgconfig pkg-config --libs ntcore wpiutil` \
-#    || exit 1
-#
-#popd
-#
-#pip3 install pyntcore==2023.1.1.0
-#
-##
-## Build robotpy-cscore
-##
-#pushd ${EXTRACT_DIR}/robotpy-cscore
-#
-## install Python sources
-#sh -c 'tar cf - cscore' | \
-#    sh -c "cd ${ROOTFS_DIR}/usr/local/lib/python3.9/dist-packages && tar xf -"
-#
-## install blank _init_cscore.py
-#touch "${ROOTFS_DIR}/usr/local/lib/python3.9/dist-packages/cscore/_init_cscore.py"
-#
-## generate sources
-#python3 setup.py build_gen
-#
-## build module
-#aarch64-linux-gnu-g++ \
-#    --sysroot=${ROOTFS_DIR} \
-#    -g -O -Wall -fvisibility=hidden -shared -fPIC -std=c++20 \
-#    -o "${ROOTFS_DIR}/usr/local/lib/python3.9/dist-packages/_cscore.cpython-39-aarch64-linux-gnu.so" \
-#    -I build/temp.*/gensrc/* \
-#    -I../robotpy-build/robotpy_build/include \
-#    -I../robotpy-build/robotpy_build/pybind11/include \
-#    `env PKG_CONFIG_LIBDIR=${PKG_CONFIG_LIBDIR}:${ROOTFS_DIR}/usr/local/frc/lib/pkgconfig pkg-config --cflags python3 cameraserver cscore wpiutil` \
-#    cscore/src/main.cpp \
-#    cscore/cvnp/cvnp.cpp \
-#    cscore/cvnp/cvnp_synonyms.cpp \
-#    `env PKG_CONFIG_LIBDIR=${PKG_CONFIG_LIBDIR}:${ROOTFS_DIR}/usr/local/frc/lib/pkgconfig pkg-config --libs cameraserver cscore wpiutil` \
-#    || exit 1
-#
-#popd
-
 #
 # Build pixy2
 #
@@ -528,8 +293,8 @@ popd
 EOF
 
 install -m 644 "${EXTRACT_DIR}/pixy2/build/libpixyusb2/libpixy2.a" "${ROOTFS_DIR}/usr/local/frc/lib/"
-install -m 644 "${EXTRACT_DIR}/pixy2/build/python_demos/pixy.py" "${ROOTFS_DIR}/usr/local/lib/python3.9/site-packages/"
-install -m 755 ${EXTRACT_DIR}/pixy2/build/python_demos/_pixy.*.so "${ROOTFS_DIR}/usr/local/lib/python3.9/site-packages/"
+install -m 644 "${EXTRACT_DIR}/pixy2/build/python_demos/pixy.py" "${ROOTFS_DIR}/usr/local/lib/python3.11/dist-packages/"
+install -m 755 ${EXTRACT_DIR}/pixy2/build/python_demos/_pixy.*.so "${ROOTFS_DIR}/usr/local/lib/python3.11/dist-packages/"
 rm -rf "${EXTRACT_DIR}/pixy2/build"
 
 #
diff --git a/stage3/01-sys-tweaks/files/pkgconfig/apriltag.pc b/stage3/01-sys-tweaks/files/pkgconfig/apriltag.pc
index 65b3967b40..b4461afbbc 100644
--- a/stage3/01-sys-tweaks/files/pkgconfig/apriltag.pc
+++ b/stage3/01-sys-tweaks/files/pkgconfig/apriltag.pc
@@ -2,12 +2,12 @@
 
 prefix=/usr/local/frc
 exec_prefix=${prefix}
-includedir=${prefix}/include
+includedir=${prefix}/include/apriltag
 libdir=${exec_prefix}/lib
 
 Name: apriltag
 Description: WPILib Robotics Library AprilTags
-Version: 2023.1.1
+Version: 2024.1.1
 Requires: wpimath wpiutil
 Libs: -L${libdir} -lapriltag
 Libs.private: -lpthread
diff --git a/stage3/01-sys-tweaks/files/pkgconfig/cameraserver.pc b/stage3/01-sys-tweaks/files/pkgconfig/cameraserver.pc
index 245b35da8c..64c7d2fff7 100644
--- a/stage3/01-sys-tweaks/files/pkgconfig/cameraserver.pc
+++ b/stage3/01-sys-tweaks/files/pkgconfig/cameraserver.pc
@@ -2,12 +2,12 @@
 
 prefix=/usr/local/frc
 exec_prefix=${prefix}
-includedir=${prefix}/include
+includedir=${prefix}/include/cameraserver
 libdir=${exec_prefix}/lib
 
 Name: cameraserver
 Description: WPILib Robotics Library CameraServer
-Version: 2023.1.1
+Version: 2024.1.1
 Requires: cscore wpiutil
 Requires.private: ntcore
 Libs: -L${libdir} -lcameraserver
diff --git a/stage3/01-sys-tweaks/files/pkgconfig/cscore.pc b/stage3/01-sys-tweaks/files/pkgconfig/cscore.pc
index e3d9f8e5e3..c9d7aaed0d 100644
--- a/stage3/01-sys-tweaks/files/pkgconfig/cscore.pc
+++ b/stage3/01-sys-tweaks/files/pkgconfig/cscore.pc
@@ -2,12 +2,12 @@
 
 prefix=/usr/local/frc
 exec_prefix=${prefix}
-includedir=${prefix}/include
+includedir=${prefix}/include/cscore
 libdir=${exec_prefix}/lib
 
 Name: cscore
 Description: WPILib Robotics Library CameraServer Core
-Version: 2023.1.1
+Version: 2024.1.1
 Requires: wpiutil opencv4
 Requires.private: wpinet
 Libs: -L${libdir} -lcscore
diff --git a/stage3/01-sys-tweaks/files/pkgconfig/ntcore.pc b/stage3/01-sys-tweaks/files/pkgconfig/ntcore.pc
index c3da5c47de..d12ec26312 100644
--- a/stage3/01-sys-tweaks/files/pkgconfig/ntcore.pc
+++ b/stage3/01-sys-tweaks/files/pkgconfig/ntcore.pc
@@ -2,12 +2,12 @@
 
 prefix=/usr/local/frc
 exec_prefix=${prefix}
-includedir=${prefix}/include
+includedir=${prefix}/include/ntcore
 libdir=${exec_prefix}/lib
 
 Name: ntcore
 Description: WPILib Robotics Library NetworkTables
-Version: 2023.1.1
+Version: 2024.1.1
 Requires: wpiutil
 Requires.private: wpinet
 Libs: -L${libdir} -lntcore
diff --git a/stage3/01-sys-tweaks/files/pkgconfig/wpilibc.pc b/stage3/01-sys-tweaks/files/pkgconfig/wpilibc.pc
index bb97c9cf1f..e477a4489f 100644
--- a/stage3/01-sys-tweaks/files/pkgconfig/wpilibc.pc
+++ b/stage3/01-sys-tweaks/files/pkgconfig/wpilibc.pc
@@ -2,12 +2,12 @@
 
 prefix=/usr/local/frc
 exec_prefix=${prefix}
-includedir=${prefix}/include
+includedir=${prefix}/include/wpilibc
 libdir=${exec_prefix}/lib
 
 Name: wpilibc
 Description: WPILib Robotics Library
-Version: 2023.1.1
+Version: 2024.1.1
 Requires: apriltag cameraserver ntcore cscore wpimath wpinet wpiutil
 Libs: -L${libdir} -lwpilibc -lwpiHal
 Cflags: -I${includedir}
diff --git a/stage3/01-sys-tweaks/files/pkgconfig/wpimath.pc b/stage3/01-sys-tweaks/files/pkgconfig/wpimath.pc
index 21eba35381..6edcee8737 100644
--- a/stage3/01-sys-tweaks/files/pkgconfig/wpimath.pc
+++ b/stage3/01-sys-tweaks/files/pkgconfig/wpimath.pc
@@ -2,12 +2,12 @@
 
 prefix=/usr/local/frc
 exec_prefix=${prefix}
-includedir=${prefix}/include
+includedir=${prefix}/include/wpimath
 libdir=${exec_prefix}/lib
 
 Name: wpimath
 Description: WPILib Robotics Library Math
-Version: 2023.1.1
+Version: 2024.1.1
 Requires: wpiutil
 Libs: -L${libdir} -lwpimath
 Cflags: -I${includedir}
diff --git a/stage3/01-sys-tweaks/files/pkgconfig/wpinet.pc b/stage3/01-sys-tweaks/files/pkgconfig/wpinet.pc
index 0946d3e8de..00424a0e2f 100644
--- a/stage3/01-sys-tweaks/files/pkgconfig/wpinet.pc
+++ b/stage3/01-sys-tweaks/files/pkgconfig/wpinet.pc
@@ -2,12 +2,12 @@
 
 prefix=/usr/local/frc
 exec_prefix=${prefix}
-includedir=${prefix}/include
+includedir=${prefix}/include/wpinet
 libdir=${exec_prefix}/lib
 
 Name: wpinet
 Description: WPILib Robotics Library Networking
-Version: 2023.1.1
+Version: 2024.1.1
 Requires: wpiutil
 Libs: -L${libdir} -lwpinet
 Libs.private: -lpthread -lutil
diff --git a/stage3/01-sys-tweaks/files/pkgconfig/wpiutil.pc b/stage3/01-sys-tweaks/files/pkgconfig/wpiutil.pc
index e0526dbe29..839b84baeb 100644
--- a/stage3/01-sys-tweaks/files/pkgconfig/wpiutil.pc
+++ b/stage3/01-sys-tweaks/files/pkgconfig/wpiutil.pc
@@ -2,12 +2,12 @@
 
 prefix=/usr/local/frc
 exec_prefix=${prefix}
-includedir=${prefix}/include
+includedir=${prefix}/include/wpiutil
 libdir=${exec_prefix}/lib
 
 Name: wpiutil
 Description: WPILib Robotics Library utilities
-Version: 2023.1.1
+Version: 2024.1.1
 Libs: -L${libdir} -lwpiutil -latomic
 Libs.private: -lpthread
 Cflags: -I${includedir}
diff --git a/stage4/01-sys-tweaks/01-run.sh b/stage4/01-sys-tweaks/01-run.sh
index 6ea5f24d67..39cae7eddb 100755
--- a/stage4/01-sys-tweaks/01-run.sh
+++ b/stage4/01-sys-tweaks/01-run.sh
@@ -21,6 +21,10 @@ sh -c "cd ${BASE_DIR}/deps && tar cf - tools" | \
 #
 pushd "${STAGE_WORK_DIR}/tools"
 
+ls -l ${ROOTFS_DIR}/usr/local/frc-static/include
+ls -l ${ROOTFS_DIR}/usr/local/frc/include
+ls ${ROOTFS_DIR}/usr/local/frc-static/include/wpiutil
+
 export CXXFLAGS="-std=c++20 --sysroot=${ROOTFS_DIR} -Wl,-rpath -Wl,${ROOTFS_DIR}/opt/vc/lib"
 export PKG_CONFIG_DIR=
 export PKG_CONFIG_LIBDIR=${ROOTFS_DIR}/usr/lib/aarch64-linux-gnu/pkgconfig:${ROOTFS_DIR}/usr/lib/pkgconfig:${ROOTFS_DIR}/usr/share/pkgconfig:${ROOTFS_DIR}/usr/local/frc-static/lib/pkgconfig
diff --git a/stage4/02-net-tweaks/00-packages b/stage4/02-net-tweaks/00-packages
index f0125f6a6d..d446837df7 100644
--- a/stage4/02-net-tweaks/00-packages
+++ b/stage4/02-net-tweaks/00-packages
@@ -1,5 +1,4 @@
 wpasupplicant wireless-tools firmware-atheros firmware-brcm80211 firmware-libertas firmware-misc-nonfree firmware-realtek
 raspberrypi-net-mods
-dhcpcd5
 network-manager
 net-tools
diff --git a/stage4/02-net-tweaks/01-run.sh b/stage4/02-net-tweaks/01-run.sh
index 3748e6a3bb..d6150f538b 100755
--- a/stage4/02-net-tweaks/01-run.sh
+++ b/stage4/02-net-tweaks/01-run.sh
@@ -6,10 +6,10 @@ install -v -m 600 files/wpa_supplicant.conf	"${ROOTFS_DIR}/etc/wpa_supplicant/"
 # disable wireless
 install -m 644 files/raspi-blacklist.conf "${ROOTFS_DIR}/etc/modprobe.d/"
 
-on_chroot << EOF
-	SUDO_USER="${FIRST_USER_NAME}" raspi-config nonint do_boot_wait 0
-	SUDO_USER="${FIRST_USER_NAME}" raspi-config nonint do_netconf 1
-EOF
+#on_chroot << EOF
+#	SUDO_USER="${FIRST_USER_NAME}" raspi-config nonint do_boot_wait 0
+#	SUDO_USER="${FIRST_USER_NAME}" raspi-config nonint do_netconf 1
+#EOF
 
 if [ -v WPA_COUNTRY ]; then
 	on_chroot <<- EOF
@@ -36,3 +36,4 @@ fi
 mkdir -p "${ROOTFS_DIR}/var/lib/systemd/rfkill/"
 echo 1 > "${ROOTFS_DIR}/var/lib/systemd/rfkill/platform-3f300000.mmcnr:wlan"
 echo 1 > "${ROOTFS_DIR}/var/lib/systemd/rfkill/platform-fe300000.mmcnr:wlan"
+echo 1 > "${ROOTFS_DIR}/var/lib/systemd/rfkill/platform-1001100000.mmc:wlan"
diff --git a/stage4/06-enable-wayland/00-run.sh b/stage4/06-enable-wayland/00-run.sh
new file mode 100755
index 0000000000..bd8bbc3bcc
--- /dev/null
+++ b/stage4/06-enable-wayland/00-run.sh
@@ -0,0 +1,5 @@
+#!/bin/bash -e
+
+on_chroot << EOF
+	SUDO_USER="${FIRST_USER_NAME}" raspi-config nonint do_wayland W2
+EOF
diff --git a/stage4/07-disable-pwr-button/00-run.sh b/stage4/07-disable-pwr-button/00-run.sh
new file mode 100755
index 0000000000..44646bd122
--- /dev/null
+++ b/stage4/07-disable-pwr-button/00-run.sh
@@ -0,0 +1,3 @@
+#!/bin/bash -e
+
+sed -i 's/^.*HandlePowerKey=.*$/HandlePowerKey=ignore/' "${ROOTFS_DIR}/etc/systemd/logind.conf"
diff --git a/stage5/01-sys-tweaks/01-run.sh b/stage5/01-sys-tweaks/01-run.sh
index 0077243ac9..f89bd406ed 100755
--- a/stage5/01-sys-tweaks/01-run.sh
+++ b/stage5/01-sys-tweaks/01-run.sh
@@ -36,8 +36,8 @@ source "/home/${FIRST_USER_NAME}/.nvm/nvm.sh"
 nvm install 14.15.0
 
 npm --unsafe-perm --user=1000 --group=1000 install -g @wpilib/wpilib-ws-robot-romi
-npm --unsafe-perm --user=1000 --group=1000 install -g i2c-bus
 EOF
+#npm --unsafe-perm --user=1000 --group=1000 install -g i2c-bus
 
 # Fix NVM/NPM owner/group
 chown -R 1000:1000 "${ROOTFS_DIR}/home/${FIRST_USER_NAME}/.nvm"