diff --git a/wpimath/src/main/java/edu/wpi/first/math/geometry/proto/Ellipse2dProto.java b/wpimath/src/main/java/edu/wpi/first/math/geometry/proto/Ellipse2dProto.java
index 587f0e65d0a..8fd99359d9d 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/geometry/proto/Ellipse2dProto.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/geometry/proto/Ellipse2dProto.java
@@ -21,11 +21,6 @@ public Descriptor getDescriptor() {
     return ProtobufEllipse2d.getDescriptor();
   }
 
-  @Override
-  public Protobuf<?, ?>[] getNested() {
-    return new Protobuf<?, ?>[] {Pose2d.proto};
-  }
-
   @Override
   public ProtobufEllipse2d createMessage() {
     return ProtobufEllipse2d.newInstance();
diff --git a/wpimath/src/main/java/edu/wpi/first/math/geometry/proto/Pose2dProto.java b/wpimath/src/main/java/edu/wpi/first/math/geometry/proto/Pose2dProto.java
index 9dcfb34f8a6..4c0098409ce 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/geometry/proto/Pose2dProto.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/geometry/proto/Pose2dProto.java
@@ -22,11 +22,6 @@ public Descriptor getDescriptor() {
     return ProtobufPose2d.getDescriptor();
   }
 
-  @Override
-  public Protobuf<?, ?>[] getNested() {
-    return new Protobuf<?, ?>[] {Translation2d.proto, Rotation2d.proto};
-  }
-
   @Override
   public ProtobufPose2d createMessage() {
     return ProtobufPose2d.newInstance();
diff --git a/wpimath/src/main/java/edu/wpi/first/math/geometry/proto/Pose3dProto.java b/wpimath/src/main/java/edu/wpi/first/math/geometry/proto/Pose3dProto.java
index d908a46f948..671f2b83cc8 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/geometry/proto/Pose3dProto.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/geometry/proto/Pose3dProto.java
@@ -22,11 +22,6 @@ public Descriptor getDescriptor() {
     return ProtobufPose3d.getDescriptor();
   }
 
-  @Override
-  public Protobuf<?, ?>[] getNested() {
-    return new Protobuf<?, ?>[] {Translation3d.proto, Rotation3d.proto};
-  }
-
   @Override
   public ProtobufPose3d createMessage() {
     return ProtobufPose3d.newInstance();
diff --git a/wpimath/src/main/java/edu/wpi/first/math/geometry/proto/Rectangle2dProto.java b/wpimath/src/main/java/edu/wpi/first/math/geometry/proto/Rectangle2dProto.java
index 4876d1e26a2..f730b1671f0 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/geometry/proto/Rectangle2dProto.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/geometry/proto/Rectangle2dProto.java
@@ -21,11 +21,6 @@ public Descriptor getDescriptor() {
     return ProtobufRectangle2d.getDescriptor();
   }
 
-  @Override
-  public Protobuf<?, ?>[] getNested() {
-    return new Protobuf<?, ?>[] {Pose2d.proto};
-  }
-
   @Override
   public ProtobufRectangle2d createMessage() {
     return ProtobufRectangle2d.newInstance();
diff --git a/wpimath/src/main/java/edu/wpi/first/math/geometry/proto/Rotation3dProto.java b/wpimath/src/main/java/edu/wpi/first/math/geometry/proto/Rotation3dProto.java
index 28ace95503c..af841550d0b 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/geometry/proto/Rotation3dProto.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/geometry/proto/Rotation3dProto.java
@@ -21,11 +21,6 @@ public Descriptor getDescriptor() {
     return ProtobufRotation3d.getDescriptor();
   }
 
-  @Override
-  public Protobuf<?, ?>[] getNested() {
-    return new Protobuf<?, ?>[] {Quaternion.proto};
-  }
-
   @Override
   public ProtobufRotation3d createMessage() {
     return ProtobufRotation3d.newInstance();
diff --git a/wpimath/src/main/java/edu/wpi/first/math/geometry/proto/Transform2dProto.java b/wpimath/src/main/java/edu/wpi/first/math/geometry/proto/Transform2dProto.java
index 8714a7044b1..5536ba4c164 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/geometry/proto/Transform2dProto.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/geometry/proto/Transform2dProto.java
@@ -22,11 +22,6 @@ public Descriptor getDescriptor() {
     return ProtobufTransform2d.getDescriptor();
   }
 
-  @Override
-  public Protobuf<?, ?>[] getNested() {
-    return new Protobuf<?, ?>[] {Translation2d.proto, Rotation2d.proto};
-  }
-
   @Override
   public ProtobufTransform2d createMessage() {
     return ProtobufTransform2d.newInstance();
diff --git a/wpimath/src/main/java/edu/wpi/first/math/geometry/proto/Transform3dProto.java b/wpimath/src/main/java/edu/wpi/first/math/geometry/proto/Transform3dProto.java
index b63de6794e0..d824ce6ebcb 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/geometry/proto/Transform3dProto.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/geometry/proto/Transform3dProto.java
@@ -22,11 +22,6 @@ public Descriptor getDescriptor() {
     return ProtobufTransform3d.getDescriptor();
   }
 
-  @Override
-  public Protobuf<?, ?>[] getNested() {
-    return new Protobuf<?, ?>[] {Translation3d.proto, Rotation3d.proto};
-  }
-
   @Override
   public ProtobufTransform3d createMessage() {
     return ProtobufTransform3d.newInstance();
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/proto/MecanumDriveKinematicsProto.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/proto/MecanumDriveKinematicsProto.java
index f5b8f3bdfb0..504b8f85674 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/proto/MecanumDriveKinematicsProto.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/proto/MecanumDriveKinematicsProto.java
@@ -22,11 +22,6 @@ public Descriptor getDescriptor() {
     return ProtobufMecanumDriveKinematics.getDescriptor();
   }
 
-  @Override
-  public Protobuf<?, ?>[] getNested() {
-    return new Protobuf<?, ?>[] {Translation2d.proto};
-  }
-
   @Override
   public ProtobufMecanumDriveKinematics createMessage() {
     return ProtobufMecanumDriveKinematics.newInstance();
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/proto/SwerveModulePositionProto.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/proto/SwerveModulePositionProto.java
index fe5ec5fc661..97cadf28c3a 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/proto/SwerveModulePositionProto.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/proto/SwerveModulePositionProto.java
@@ -22,11 +22,6 @@ public Descriptor getDescriptor() {
     return ProtobufSwerveModulePosition.getDescriptor();
   }
 
-  @Override
-  public Protobuf<?, ?>[] getNested() {
-    return new Protobuf<?, ?>[] {Rotation2d.proto};
-  }
-
   @Override
   public ProtobufSwerveModulePosition createMessage() {
     return ProtobufSwerveModulePosition.newInstance();
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/proto/SwerveModuleStateProto.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/proto/SwerveModuleStateProto.java
index dc30f91117b..cccff4d5910 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/proto/SwerveModuleStateProto.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/proto/SwerveModuleStateProto.java
@@ -22,11 +22,6 @@ public Descriptor getDescriptor() {
     return ProtobufSwerveModuleState.getDescriptor();
   }
 
-  @Override
-  public Protobuf<?, ?>[] getNested() {
-    return new Protobuf<?, ?>[] {Rotation2d.proto};
-  }
-
   @Override
   public ProtobufSwerveModuleState createMessage() {
     return ProtobufSwerveModuleState.newInstance();
diff --git a/wpimath/src/main/java/edu/wpi/first/math/trajectory/proto/TrajectoryProto.java b/wpimath/src/main/java/edu/wpi/first/math/trajectory/proto/TrajectoryProto.java
index 92e5ac7d2cd..10db1ab47e2 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/trajectory/proto/TrajectoryProto.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/trajectory/proto/TrajectoryProto.java
@@ -22,11 +22,6 @@ public Descriptor getDescriptor() {
     return ProtobufTrajectory.getDescriptor();
   }
 
-  @Override
-  public Protobuf<?, ?>[] getNested() {
-    return new Protobuf<?, ?>[] {Trajectory.State.proto};
-  }
-
   @Override
   public ProtobufTrajectory createMessage() {
     return ProtobufTrajectory.newInstance();
diff --git a/wpimath/src/main/java/edu/wpi/first/math/trajectory/proto/TrajectoryStateProto.java b/wpimath/src/main/java/edu/wpi/first/math/trajectory/proto/TrajectoryStateProto.java
index e8900bfbd7b..204c814db1b 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/trajectory/proto/TrajectoryStateProto.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/trajectory/proto/TrajectoryStateProto.java
@@ -21,11 +21,6 @@ public Descriptor getDescriptor() {
     return ProtobufTrajectoryState.getDescriptor();
   }
 
-  @Override
-  public Protobuf<?, ?>[] getNested() {
-    return new Protobuf<?, ?>[] {Pose2d.proto};
-  }
-
   @Override
   public ProtobufTrajectoryState createMessage() {
     return ProtobufTrajectoryState.newInstance();
diff --git a/wpiutil/src/main/java/edu/wpi/first/util/protobuf/Protobuf.java b/wpiutil/src/main/java/edu/wpi/first/util/protobuf/Protobuf.java
index 4501ebc6784..f4148399003 100644
--- a/wpiutil/src/main/java/edu/wpi/first/util/protobuf/Protobuf.java
+++ b/wpiutil/src/main/java/edu/wpi/first/util/protobuf/Protobuf.java
@@ -48,15 +48,6 @@ default String getTypeString() {
    */
   Descriptor getDescriptor();
 
-  /**
-   * Gets the list of protobuf types referenced by this protobuf.
-   *
-   * @return list of protobuf types
-   */
-  default Protobuf<?, ?>[] getNested() {
-    return new Protobuf<?, ?>[] {};
-  }
-
   /**
    * Creates protobuf message.
    *