diff --git a/apriltag/src/main/java/edu/wpi/first/apriltag/jni/AprilTagJNI.java b/apriltag/src/main/java/edu/wpi/first/apriltag/jni/AprilTagJNI.java
index 87c61e8279c..2c6837d49c9 100644
--- a/apriltag/src/main/java/edu/wpi/first/apriltag/jni/AprilTagJNI.java
+++ b/apriltag/src/main/java/edu/wpi/first/apriltag/jni/AprilTagJNI.java
@@ -18,8 +18,8 @@ public class AprilTagJNI {
   static boolean libraryLoaded = false;
 
   /** Sets whether JNI should be loaded in the static block. */
-  public static class Helper {
-    private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(true);
+  public static final class Helper {
+    private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(false);
 
     /**
      * Returns true if the JNI should be loaded in the static block.
@@ -55,6 +55,19 @@ private Helper() {}
     }
   }
 
+  /**
+   * Force load the library.
+   *
+   * @throws IOException if library load failed
+   */
+  public static synchronized void forceLoad() throws IOException {
+    if (libraryLoaded) {
+      return;
+    }
+    RuntimeLoader.loadLibrary("apriltagjni");
+    libraryLoaded = true;
+  }
+
   /**
    * Constructs an AprilTag detector engine.
    *
diff --git a/apriltag/src/test/java/edu/wpi/first/apriltag/AprilTagJniTestExtension.java b/apriltag/src/test/java/edu/wpi/first/apriltag/AprilTagJniTestExtension.java
new file mode 100644
index 00000000000..e5345103b2c
--- /dev/null
+++ b/apriltag/src/test/java/edu/wpi/first/apriltag/AprilTagJniTestExtension.java
@@ -0,0 +1,40 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.apriltag;
+
+import edu.wpi.first.apriltag.jni.AprilTagJNI;
+import edu.wpi.first.util.WPIUtilJNI;
+import java.io.IOException;
+import org.junit.jupiter.api.extension.BeforeAllCallback;
+import org.junit.jupiter.api.extension.ExtensionContext;
+import org.junit.jupiter.api.extension.ExtensionContext.Namespace;
+
+public final class AprilTagJniTestExtension implements BeforeAllCallback {
+  private static ExtensionContext getRoot(ExtensionContext context) {
+    return context.getParent().map(AprilTagJniTestExtension::getRoot).orElse(context);
+  }
+
+  @Override
+  public void beforeAll(ExtensionContext context) throws Exception {
+    getRoot(context)
+        .getStore(Namespace.GLOBAL)
+        .getOrComputeIfAbsent(
+            "April Tag Initialized",
+            key -> {
+                initializeNatives();
+              return true;
+            },
+            Boolean.class);
+  }
+
+  private void initializeNatives() {
+    try {
+      WPIUtilJNI.forceLoad();
+      AprilTagJNI.forceLoad();
+    } catch (IOException e) {
+      throw new RuntimeException(e);
+    }
+  }
+}
diff --git a/apriltag/src/test/resources/META-INF/services/org.junit.jupiter.api.extension.Extension b/apriltag/src/test/resources/META-INF/services/org.junit.jupiter.api.extension.Extension
new file mode 100644
index 00000000000..149d61ac0e7
--- /dev/null
+++ b/apriltag/src/test/resources/META-INF/services/org.junit.jupiter.api.extension.Extension
@@ -0,0 +1 @@
+edu.wpi.first.apriltag.AprilTagJniTestExtension
diff --git a/cscore/src/main/java/edu/wpi/first/cscore/CameraServerJNI.java b/cscore/src/main/java/edu/wpi/first/cscore/CameraServerJNI.java
index b0ac27aef53..ec2b79ee1eb 100644
--- a/cscore/src/main/java/edu/wpi/first/cscore/CameraServerJNI.java
+++ b/cscore/src/main/java/edu/wpi/first/cscore/CameraServerJNI.java
@@ -16,8 +16,8 @@ public class CameraServerJNI {
   static boolean libraryLoaded = false;
 
   /** Sets whether JNI should be loaded in the static block. */
-  public static class Helper {
-    private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(true);
+  public static final class Helper {
+    private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(false);
 
     /**
      * Returns true if the JNI should be loaded in the static block.
diff --git a/cscore/src/main/java/edu/wpi/first/cscore/OpenCvLoader.java b/cscore/src/main/java/edu/wpi/first/cscore/OpenCvLoader.java
index d6df2eec926..f16866ded12 100644
--- a/cscore/src/main/java/edu/wpi/first/cscore/OpenCvLoader.java
+++ b/cscore/src/main/java/edu/wpi/first/cscore/OpenCvLoader.java
@@ -16,7 +16,7 @@ public final class OpenCvLoader {
 
   /** Sets whether JNI should be loaded in the static block. */
   public static final class Helper {
-    private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(true);
+    private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(false);
 
     /**
      * Returns true if the JNI should be loaded in the static block.
diff --git a/cscore/src/test/java/edu/wpi/first/cscore/CameraServerJniTestExtension.java b/cscore/src/test/java/edu/wpi/first/cscore/CameraServerJniTestExtension.java
new file mode 100644
index 00000000000..fba8ba7a5ab
--- /dev/null
+++ b/cscore/src/test/java/edu/wpi/first/cscore/CameraServerJniTestExtension.java
@@ -0,0 +1,41 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.cscore;
+
+import edu.wpi.first.util.WPIUtilJNI;
+
+import java.io.IOException;
+import org.junit.jupiter.api.extension.BeforeAllCallback;
+import org.junit.jupiter.api.extension.ExtensionContext;
+import org.junit.jupiter.api.extension.ExtensionContext.Namespace;
+
+public final class CameraServerJniTestExtension implements BeforeAllCallback {
+  private static ExtensionContext getRoot(ExtensionContext context) {
+    return context.getParent().map(CameraServerJniTestExtension::getRoot).orElse(context);
+  }
+
+  @Override
+  public void beforeAll(ExtensionContext context) throws Exception {
+    getRoot(context)
+        .getStore(Namespace.GLOBAL)
+        .getOrComputeIfAbsent(
+            "CsCore Initialized",
+            key -> {
+              initializeNatives();
+              return true;
+            },
+            Boolean.class);
+  }
+
+  private void initializeNatives() {
+    try {
+      WPIUtilJNI.forceLoad();
+      CameraServerJNI.forceLoad();
+      OpenCvLoader.forceLoad();
+    } catch (IOException e) {
+      throw new RuntimeException(e);
+    }
+  }
+}
diff --git a/cscore/src/test/resources/META-INF/services/org.junit.jupiter.api.extension.Extension b/cscore/src/test/resources/META-INF/services/org.junit.jupiter.api.extension.Extension
new file mode 100644
index 00000000000..3e39d456fc1
--- /dev/null
+++ b/cscore/src/test/resources/META-INF/services/org.junit.jupiter.api.extension.Extension
@@ -0,0 +1 @@
+edu.wpi.first.cscore.CameraServerJniTestExtension
diff --git a/hal/src/main/java/edu/wpi/first/hal/JNIWrapper.java b/hal/src/main/java/edu/wpi/first/hal/JNIWrapper.java
index 5cc2e126558..44f14bf36ba 100644
--- a/hal/src/main/java/edu/wpi/first/hal/JNIWrapper.java
+++ b/hal/src/main/java/edu/wpi/first/hal/JNIWrapper.java
@@ -13,8 +13,8 @@ public class JNIWrapper {
   static boolean libraryLoaded = false;
 
   /** Sets whether JNI should be loaded in the static block. */
-  public static class Helper {
-    private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(true);
+  public static final class Helper {
+    private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(false);
 
     /**
      * Returns true if the JNI should be loaded in the static block.
diff --git a/hal/src/test/java/edu/wpi/first/hal/HalJniTestExtension.java b/hal/src/test/java/edu/wpi/first/hal/HalJniTestExtension.java
new file mode 100644
index 00000000000..05aa5a51096
--- /dev/null
+++ b/hal/src/test/java/edu/wpi/first/hal/HalJniTestExtension.java
@@ -0,0 +1,39 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.hal;
+
+import edu.wpi.first.util.WPIUtilJNI;
+import java.io.IOException;
+import org.junit.jupiter.api.extension.BeforeAllCallback;
+import org.junit.jupiter.api.extension.ExtensionContext;
+import org.junit.jupiter.api.extension.ExtensionContext.Namespace;
+
+public final class HalJniTestExtension implements BeforeAllCallback {
+  private static ExtensionContext getRoot(ExtensionContext context) {
+    return context.getParent().map(HalJniTestExtension::getRoot).orElse(context);
+  }
+
+  @Override
+  public void beforeAll(ExtensionContext context) throws Exception {
+    getRoot(context)
+        .getStore(Namespace.GLOBAL)
+        .getOrComputeIfAbsent(
+            "HAL Initialized",
+            key -> {
+              initializeNatives();
+              return true;
+            },
+            Boolean.class);
+  }
+
+  private void initializeNatives() {
+    try {
+      WPIUtilJNI.forceLoad();
+      JNIWrapper.forceLoad();
+    } catch (IOException e) {
+      throw new RuntimeException(e);
+    }
+  }
+}
diff --git a/hal/src/test/resources/META-INF/services/org.junit.jupiter.api.extension.Extension b/hal/src/test/resources/META-INF/services/org.junit.jupiter.api.extension.Extension
new file mode 100644
index 00000000000..8c64204de27
--- /dev/null
+++ b/hal/src/test/resources/META-INF/services/org.junit.jupiter.api.extension.Extension
@@ -0,0 +1 @@
+edu.wpi.first.hal.HalJniTestExtension
diff --git a/ntcore/src/generate/main/java/NetworkTablesJNI.java.jinja b/ntcore/src/generate/main/java/NetworkTablesJNI.java.jinja
index 17d15c17540..2bc02ddee89 100644
--- a/ntcore/src/generate/main/java/NetworkTablesJNI.java.jinja
+++ b/ntcore/src/generate/main/java/NetworkTablesJNI.java.jinja
@@ -19,8 +19,8 @@ public final class NetworkTablesJNI {
   static boolean libraryLoaded = false;
 
   /** Sets whether JNI should be loaded in the static block. */
-  public static class Helper {
-    private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(true);
+  public static final class Helper {
+    private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(false);
 
     /**
      * Returns true if the JNI should be loaded in the static block.
diff --git a/ntcore/src/generated/main/java/edu/wpi/first/networktables/NetworkTablesJNI.java b/ntcore/src/generated/main/java/edu/wpi/first/networktables/NetworkTablesJNI.java
index 4741f7642a7..20bc953fab1 100644
--- a/ntcore/src/generated/main/java/edu/wpi/first/networktables/NetworkTablesJNI.java
+++ b/ntcore/src/generated/main/java/edu/wpi/first/networktables/NetworkTablesJNI.java
@@ -19,8 +19,8 @@ public final class NetworkTablesJNI {
   static boolean libraryLoaded = false;
 
   /** Sets whether JNI should be loaded in the static block. */
-  public static class Helper {
-    private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(true);
+  public static final class Helper {
+    private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(false);
 
     /**
      * Returns true if the JNI should be loaded in the static block.
diff --git a/ntcore/src/test/java/edu/wpi/first/networktables/NetworkTablesJniTestExtension.java b/ntcore/src/test/java/edu/wpi/first/networktables/NetworkTablesJniTestExtension.java
new file mode 100644
index 00000000000..7941b28ba54
--- /dev/null
+++ b/ntcore/src/test/java/edu/wpi/first/networktables/NetworkTablesJniTestExtension.java
@@ -0,0 +1,40 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.networktables;
+
+import edu.wpi.first.util.WPIUtilJNI;
+
+import java.io.IOException;
+import org.junit.jupiter.api.extension.BeforeAllCallback;
+import org.junit.jupiter.api.extension.ExtensionContext;
+import org.junit.jupiter.api.extension.ExtensionContext.Namespace;
+
+public final class NetworkTablesJniTestExtension implements BeforeAllCallback {
+  private static ExtensionContext getRoot(ExtensionContext context) {
+    return context.getParent().map(NetworkTablesJniTestExtension::getRoot).orElse(context);
+  }
+
+  @Override
+  public void beforeAll(ExtensionContext context) throws Exception {
+    getRoot(context)
+        .getStore(Namespace.GLOBAL)
+        .getOrComputeIfAbsent(
+            "Ntcore Initialized",
+            key -> {
+                initializeNatives();
+              return true;
+            },
+            Boolean.class);
+  }
+
+  private void initializeNatives() {
+    try {
+      WPIUtilJNI.forceLoad();
+      NetworkTablesJNI.forceLoad();
+    } catch (IOException e) {
+      throw new RuntimeException(e);
+    }
+  }
+}
diff --git a/ntcore/src/test/resources/META-INF/services/org.junit.jupiter.api.extension.Extension b/ntcore/src/test/resources/META-INF/services/org.junit.jupiter.api.extension.Extension
new file mode 100644
index 00000000000..178c9c4f7eb
--- /dev/null
+++ b/ntcore/src/test/resources/META-INF/services/org.junit.jupiter.api.extension.Extension
@@ -0,0 +1 @@
+edu.wpi.first.networktables.NetworkTablesJniTestExtension
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/MockHardwareExtension.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/MockHardwareExtension.java
index 2de1a075833..dfb3b353259 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/MockHardwareExtension.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/MockHardwareExtension.java
@@ -4,8 +4,9 @@
 
 package edu.wpi.first.wpilibj2;
 
-import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.RobotBase;
 import edu.wpi.first.wpilibj.simulation.DriverStationSim;
+
 import org.junit.jupiter.api.extension.BeforeAllCallback;
 import org.junit.jupiter.api.extension.ExtensionContext;
 import org.junit.jupiter.api.extension.ExtensionContext.Namespace;
@@ -29,7 +30,8 @@ public void beforeAll(ExtensionContext context) {
   }
 
   private void initializeHardware() {
-    HAL.initialize(500, 0);
+    RobotBase.loadLibrariesAndInitializeHal();
+
     DriverStationSim.setDsAttached(true);
     DriverStationSim.setAutonomous(false);
     DriverStationSim.setEnabled(true);
diff --git a/wpilibj/CMakeLists.txt b/wpilibj/CMakeLists.txt
index 440f7585592..518fd3fd137 100644
--- a/wpilibj/CMakeLists.txt
+++ b/wpilibj/CMakeLists.txt
@@ -38,8 +38,10 @@ if(WITH_JAVA)
             ${OPENCV_JAR_FILE}
             cscore_jar
             cameraserver_jar
+            apriltag_jar
             wpimath_jar
             wpiunits_jar
+            wpinet_jar
             wpiutil_jar
         OUTPUT_NAME wpilibj
         OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
diff --git a/wpilibj/build.gradle b/wpilibj/build.gradle
index d397f934801..a767773a55a 100644
--- a/wpilibj/build.gradle
+++ b/wpilibj/build.gradle
@@ -70,6 +70,7 @@ dependencies {
     implementation project(':ntcore')
     implementation project(':cscore')
     implementation project(':cameraserver')
+    implementation project(':apriltag')
     testImplementation 'org.mockito:mockito-core:4.1.0'
     devImplementation sourceSets.main.output
 }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java
index 2de7cf1ce86..c20d82a4acd 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java
@@ -4,17 +4,24 @@
 
 package edu.wpi.first.wpilibj;
 
+import edu.wpi.first.apriltag.jni.AprilTagJNI;
 import edu.wpi.first.cameraserver.CameraServerShared;
 import edu.wpi.first.cameraserver.CameraServerSharedStore;
+import edu.wpi.first.cscore.CameraServerJNI;
+import edu.wpi.first.cscore.OpenCvLoader;
 import edu.wpi.first.hal.FRCNetComm.tInstances;
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
 import edu.wpi.first.hal.HALUtil;
+import edu.wpi.first.hal.JNIWrapper;
 import edu.wpi.first.math.MathShared;
 import edu.wpi.first.math.MathSharedStore;
 import edu.wpi.first.math.MathUsageId;
+import edu.wpi.first.math.jni.WPIMathJNI;
+import edu.wpi.first.net.WPINetJNI;
 import edu.wpi.first.networktables.MultiSubscriber;
 import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.networktables.NetworkTablesJNI;
 import edu.wpi.first.util.WPIUtilJNI;
 import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
@@ -390,6 +397,50 @@ public static void suppressExitWarning(boolean value) {
     m_runMutex.unlock();
   }
 
+  /**
+   * Loads base native libraries needed by WPILib in all robot projects.
+   *
+   * @throws IOException If any library was not found
+   */
+  public static void loadBaseNativeLibraries() throws IOException {
+    WPIUtilJNI.forceLoad();
+    WPINetJNI.forceLoad();
+    WPIMathJNI.forceLoad();
+    JNIWrapper.forceLoad();
+    NetworkTablesJNI.forceLoad();
+  }
+
+  /**
+   * Sets the static load behavior for all of the vision libraries
+   *
+   * @param loadOnStaticInitialization true to load on static initialization, false to disable (default)
+   */
+  public static void setVisionNativeLibrariesStaticLoadBehavior(boolean loadOnStaticInitialization) {
+    CameraServerJNI.Helper.setExtractOnStaticLoad(true);
+    OpenCvLoader.Helper.setExtractOnStaticLoad(true);
+    AprilTagJNI.Helper.setExtractOnStaticLoad(true);
+  }
+
+  /**
+   * Configure all native libraries to match how a robot program works.
+   *
+   * <p>This will load all the base JNI libraries, set the vision libaries
+   * to load on static initialization, and initialize the HAL.
+   *
+   * @return HAL initialization result, true for success.
+   */
+  public static boolean loadLibrariesAndInitializeHal() {
+    try {
+      loadBaseNativeLibraries();
+    } catch (IOException e) {
+      throw new RuntimeException(e);
+    }
+
+    setVisionNativeLibrariesStaticLoadBehavior(true);
+
+    return HAL.initialize(500, 0);
+  }
+
   /**
    * Starting point for the applications.
    *
@@ -397,7 +448,7 @@ public static void suppressExitWarning(boolean value) {
    * @param robotSupplier Function that returns an instance of the robot subclass.
    */
   public static <T extends RobotBase> void startRobot(Supplier<T> robotSupplier) {
-    if (!HAL.initialize(500, 0)) {
+    if (!loadLibrariesAndInitializeHal()) {
       throw new IllegalStateException("Failed to initialize. Terminating");
     }
 
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/MockHardwareExtension.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/MockHardwareExtension.java
index e70f182a3b3..e4c5fd6f00b 100644
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/MockHardwareExtension.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/MockHardwareExtension.java
@@ -4,8 +4,8 @@
 
 package edu.wpi.first.wpilibj;
 
-import edu.wpi.first.hal.HAL;
 import edu.wpi.first.wpilibj.simulation.DriverStationSim;
+
 import org.junit.jupiter.api.extension.BeforeAllCallback;
 import org.junit.jupiter.api.extension.ExtensionContext;
 import org.junit.jupiter.api.extension.ExtensionContext.Namespace;
@@ -29,7 +29,8 @@ public void beforeAll(ExtensionContext context) {
   }
 
   private void initializeHardware() {
-    HAL.initialize(500, 0);
+    RobotBase.loadLibrariesAndInitializeHal();
+
     DriverStationSim.setDsAttached(true);
     DriverStationSim.setAutonomous(false);
     DriverStationSim.setEnabled(true);
diff --git a/wpilibjExamples/networktables.json.bck b/wpilibjExamples/networktables.json.bck
new file mode 100644
index 00000000000..9f2529c0e80
--- /dev/null
+++ b/wpilibjExamples/networktables.json.bck
@@ -0,0 +1,3 @@
+[
+
+]
diff --git a/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/armsimulation/ArmSimulationTest.java b/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/armsimulation/ArmSimulationTest.java
index eeb5e74ea3a..7c1b80c7156 100644
--- a/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/armsimulation/ArmSimulationTest.java
+++ b/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/armsimulation/ArmSimulationTest.java
@@ -7,9 +7,9 @@
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
-import edu.wpi.first.hal.HAL;
 import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj.Preferences;
+import edu.wpi.first.wpilibj.RobotBase;
 import edu.wpi.first.wpilibj.simulation.DriverStationSim;
 import edu.wpi.first.wpilibj.simulation.EncoderSim;
 import edu.wpi.first.wpilibj.simulation.JoystickSim;
@@ -33,7 +33,8 @@ class ArmSimulationTest {
 
   @BeforeEach
   void startThread() {
-    HAL.initialize(500, 0);
+    RobotBase.loadLibrariesAndInitializeHal();
+
     SimHooks.pauseTiming();
     DriverStationSim.resetData();
     m_robot = new Robot();
diff --git a/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/digitalcommunication/DigitalCommunicationTest.java b/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/digitalcommunication/DigitalCommunicationTest.java
index 9f11dc9e3ce..dd54b7deadf 100644
--- a/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/digitalcommunication/DigitalCommunicationTest.java
+++ b/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/digitalcommunication/DigitalCommunicationTest.java
@@ -9,7 +9,7 @@
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
 import edu.wpi.first.hal.AllianceStationID;
-import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.RobotBase;
 import edu.wpi.first.wpilibj.simulation.DIOSim;
 import edu.wpi.first.wpilibj.simulation.DriverStationSim;
 import edu.wpi.first.wpilibj.simulation.SimHooks;
@@ -31,7 +31,8 @@ class DigitalCommunicationTest {
 
   @BeforeEach
   void startThread() {
-    HAL.initialize(500, 0);
+    RobotBase.loadLibrariesAndInitializeHal();
+
     SimHooks.pauseTiming();
     DriverStationSim.resetData();
     m_robot = new Robot();
diff --git a/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/ElevatorSimulationTest.java b/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/ElevatorSimulationTest.java
index 7faeec68f33..fd531378e7a 100644
--- a/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/ElevatorSimulationTest.java
+++ b/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/ElevatorSimulationTest.java
@@ -7,7 +7,7 @@
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
-import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.RobotBase;
 import edu.wpi.first.wpilibj.simulation.DriverStationSim;
 import edu.wpi.first.wpilibj.simulation.EncoderSim;
 import edu.wpi.first.wpilibj.simulation.JoystickSim;
@@ -30,7 +30,8 @@ class ElevatorSimulationTest {
 
   @BeforeEach
   void startThread() {
-    HAL.initialize(500, 0);
+    RobotBase.loadLibrariesAndInitializeHal();
+
     SimHooks.pauseTiming();
     DriverStationSim.resetData();
     m_robot = new Robot();
diff --git a/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/i2ccommunication/I2CCommunicationTest.java b/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/i2ccommunication/I2CCommunicationTest.java
index 278f97f9d87..b166cc880b9 100644
--- a/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/i2ccommunication/I2CCommunicationTest.java
+++ b/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/i2ccommunication/I2CCommunicationTest.java
@@ -9,8 +9,8 @@
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
 import edu.wpi.first.hal.AllianceStationID;
-import edu.wpi.first.hal.HAL;
 import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.RobotBase;
 import edu.wpi.first.wpilibj.simulation.CallbackStore;
 import edu.wpi.first.wpilibj.simulation.DriverStationSim;
 import edu.wpi.first.wpilibj.simulation.I2CSim;
@@ -34,7 +34,8 @@ class I2CCommunicationTest {
 
   @BeforeEach
   void startThread() {
-    HAL.initialize(500, 0);
+    RobotBase.loadLibrariesAndInitializeHal();
+
     SimHooks.pauseTiming();
     DriverStationSim.resetData();
     m_future = new CompletableFuture<>();
diff --git a/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/potentiometerpid/PotentiometerPIDTest.java b/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/potentiometerpid/PotentiometerPIDTest.java
index 8a3d92b8e66..ebf7256a450 100644
--- a/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/potentiometerpid/PotentiometerPIDTest.java
+++ b/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/potentiometerpid/PotentiometerPIDTest.java
@@ -11,6 +11,7 @@
 import edu.wpi.first.hal.HAL.SimPeriodicBeforeCallback;
 import edu.wpi.first.math.system.plant.DCMotor;
 import edu.wpi.first.math.util.Units;
+import edu.wpi.first.wpilibj.RobotBase;
 import edu.wpi.first.wpilibj.RobotController;
 import edu.wpi.first.wpilibj.simulation.AnalogInputSim;
 import edu.wpi.first.wpilibj.simulation.DriverStationSim;
@@ -41,7 +42,8 @@ class PotentiometerPIDTest {
 
   @BeforeEach
   void startThread() {
-    HAL.initialize(500, 0);
+    RobotBase.loadLibrariesAndInitializeHal();
+
     SimHooks.pauseTiming();
     DriverStationSim.resetData();
     m_robot = new Robot();
diff --git a/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/ultrasonicpid/UltrasonicPIDTest.java b/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/ultrasonicpid/UltrasonicPIDTest.java
index f0a27b8f9c0..2d2ff28fc99 100644
--- a/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/ultrasonicpid/UltrasonicPIDTest.java
+++ b/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/ultrasonicpid/UltrasonicPIDTest.java
@@ -11,6 +11,7 @@
 import edu.wpi.first.hal.HAL.SimPeriodicBeforeCallback;
 import edu.wpi.first.math.system.plant.DCMotor;
 import edu.wpi.first.math.system.plant.LinearSystemId;
+import edu.wpi.first.wpilibj.RobotBase;
 import edu.wpi.first.wpilibj.RobotController;
 import edu.wpi.first.wpilibj.simulation.DifferentialDrivetrainSim;
 import edu.wpi.first.wpilibj.simulation.DifferentialDrivetrainSim.KitbotGearing;
@@ -50,7 +51,8 @@ class UltrasonicPIDTest {
 
   // We're not using @BeforeEach so m_startToObject gets initialized properly
   private void startThread() {
-    HAL.initialize(500, 0);
+    RobotBase.loadLibrariesAndInitializeHal();
+
     SimHooks.pauseTiming();
     DriverStationSim.resetData();
     m_robot = new Robot();
diff --git a/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/unittest/subsystems/IntakeTest.java b/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/unittest/subsystems/IntakeTest.java
index 33be835ef81..44a9c1d39b6 100644
--- a/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/unittest/subsystems/IntakeTest.java
+++ b/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/unittest/subsystems/IntakeTest.java
@@ -6,9 +6,9 @@
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
-import edu.wpi.first.hal.HAL;
 import edu.wpi.first.wpilibj.DoubleSolenoid;
 import edu.wpi.first.wpilibj.PneumaticsModuleType;
+import edu.wpi.first.wpilibj.RobotBase;
 import edu.wpi.first.wpilibj.examples.unittest.Constants.IntakeConstants;
 import edu.wpi.first.wpilibj.simulation.DoubleSolenoidSim;
 import edu.wpi.first.wpilibj.simulation.PWMSim;
@@ -24,7 +24,7 @@ class IntakeTest {
 
   @BeforeEach // this method will run before each test
   void setup() {
-    assert HAL.initialize(500, 0); // initialize the HAL, crash if failed
+    assert RobotBase.loadLibrariesAndInitializeHal(); // initialize the HAL, crash if failed
     m_intake = new Intake(); // create our intake
     m_simMotor =
         new PWMSim(IntakeConstants.kMotorPort); // create our simulation PWM motor controller
diff --git a/wpimath/src/main/java/edu/wpi/first/math/jni/WPIMathJNI.java b/wpimath/src/main/java/edu/wpi/first/math/jni/WPIMathJNI.java
index 8b16e7a1895..b73afb49bae 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/jni/WPIMathJNI.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/jni/WPIMathJNI.java
@@ -13,8 +13,8 @@ public class WPIMathJNI {
   private static boolean libraryLoaded = false;
 
   /** Sets whether JNI should be loaded in the static block. */
-  public static class Helper {
-    private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(true);
+  public static final class Helper {
+    private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(false);
 
     /**
      * Returns true if the JNI should be loaded in the static block.
diff --git a/wpimath/src/test/java/edu/wpi/first/math/MathJniTestExtension.java b/wpimath/src/test/java/edu/wpi/first/math/MathJniTestExtension.java
new file mode 100644
index 00000000000..1164bf79e75
--- /dev/null
+++ b/wpimath/src/test/java/edu/wpi/first/math/MathJniTestExtension.java
@@ -0,0 +1,41 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.math;
+
+import edu.wpi.first.math.jni.WPIMathJNI;
+import edu.wpi.first.util.WPIUtilJNI;
+
+import java.io.IOException;
+import org.junit.jupiter.api.extension.BeforeAllCallback;
+import org.junit.jupiter.api.extension.ExtensionContext;
+import org.junit.jupiter.api.extension.ExtensionContext.Namespace;
+
+public final class MathJniTestExtension implements BeforeAllCallback {
+  private static ExtensionContext getRoot(ExtensionContext context) {
+    return context.getParent().map(MathJniTestExtension::getRoot).orElse(context);
+  }
+
+  @Override
+  public void beforeAll(ExtensionContext context) throws Exception {
+    getRoot(context)
+        .getStore(Namespace.GLOBAL)
+        .getOrComputeIfAbsent(
+            "Ntcore Initialized",
+            key -> {
+                initializeNatives();
+              return true;
+            },
+            Boolean.class);
+  }
+
+  private void initializeNatives() {
+    try {
+      WPIUtilJNI.forceLoad();
+      WPIMathJNI.forceLoad();
+    } catch (IOException e) {
+      throw new RuntimeException(e);
+    }
+  }
+}
diff --git a/wpimath/src/test/resources/META-INF/services/org.junit.jupiter.api.extension.Extension b/wpimath/src/test/resources/META-INF/services/org.junit.jupiter.api.extension.Extension
new file mode 100644
index 00000000000..2501701d073
--- /dev/null
+++ b/wpimath/src/test/resources/META-INF/services/org.junit.jupiter.api.extension.Extension
@@ -0,0 +1 @@
+edu.wpi.first.math.MathJniTestExtension
diff --git a/wpinet/src/main/java/edu/wpi/first/net/WPINetJNI.java b/wpinet/src/main/java/edu/wpi/first/net/WPINetJNI.java
index 084f0220f54..bb11cef55ec 100644
--- a/wpinet/src/main/java/edu/wpi/first/net/WPINetJNI.java
+++ b/wpinet/src/main/java/edu/wpi/first/net/WPINetJNI.java
@@ -13,8 +13,8 @@ public class WPINetJNI {
   static boolean libraryLoaded = false;
 
   /** Sets whether JNI should be loaded in the static block. */
-  public static class Helper {
-    private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(true);
+  public static final class Helper {
+    private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(false);
 
     /**
      * Returns true if the JNI should be loaded in the static block.
diff --git a/wpinet/src/test/java/edu/wpi/first/net/WPINetJNITest.java b/wpinet/src/test/java/edu/wpi/first/net/WPINetJNITest.java
index dfa6d4d952d..98fa45ba795 100644
--- a/wpinet/src/test/java/edu/wpi/first/net/WPINetJNITest.java
+++ b/wpinet/src/test/java/edu/wpi/first/net/WPINetJNITest.java
@@ -4,12 +4,13 @@
 
 package edu.wpi.first.net;
 
-import java.io.IOException;
+import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
+
 import org.junit.jupiter.api.Test;
 
 public class WPINetJNITest {
   @Test
-  void jniLinkTest() throws IOException {
-    WPINetJNI.forceLoad();
+  void jniLinkTest() {
+    assertDoesNotThrow(WPINetJNI::forceLoad);
   }
 }
diff --git a/wpiutil/src/main/java/edu/wpi/first/util/WPIUtilJNI.java b/wpiutil/src/main/java/edu/wpi/first/util/WPIUtilJNI.java
index 58e69c34bc2..5127e6da9a5 100644
--- a/wpiutil/src/main/java/edu/wpi/first/util/WPIUtilJNI.java
+++ b/wpiutil/src/main/java/edu/wpi/first/util/WPIUtilJNI.java
@@ -13,8 +13,8 @@ public class WPIUtilJNI {
   static boolean libraryLoaded = false;
 
   /** Sets whether JNI should be loaded in the static block. */
-  public static class Helper {
-    private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(true);
+  public static final class Helper {
+    private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(false);
 
     /**
      * Returns true if the JNI should be loaded in the static block.
diff --git a/wpiutil/src/test/java/edu/wpi/first/util/WPIUtilJniTestExtension.java b/wpiutil/src/test/java/edu/wpi/first/util/WPIUtilJniTestExtension.java
new file mode 100644
index 00000000000..a3e95c1d4fe
--- /dev/null
+++ b/wpiutil/src/test/java/edu/wpi/first/util/WPIUtilJniTestExtension.java
@@ -0,0 +1,37 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.util;
+
+import java.io.IOException;
+import org.junit.jupiter.api.extension.BeforeAllCallback;
+import org.junit.jupiter.api.extension.ExtensionContext;
+import org.junit.jupiter.api.extension.ExtensionContext.Namespace;
+
+public final class WPIUtilJniTestExtension implements BeforeAllCallback {
+  private static ExtensionContext getRoot(ExtensionContext context) {
+    return context.getParent().map(WPIUtilJniTestExtension::getRoot).orElse(context);
+  }
+
+  @Override
+  public void beforeAll(ExtensionContext context) throws Exception {
+    getRoot(context)
+        .getStore(Namespace.GLOBAL)
+        .getOrComputeIfAbsent(
+            "WPIUtil Initialized",
+            key -> {
+              initializeNatives();
+              return true;
+            },
+            Boolean.class);
+  }
+
+  private void initializeNatives() {
+    try {
+      WPIUtilJNI.forceLoad();
+    } catch (IOException e) {
+      throw new RuntimeException(e);
+    }
+  }
+}
diff --git a/wpiutil/src/test/resources/META-INF/services/org.junit.jupiter.api.extension.Extension b/wpiutil/src/test/resources/META-INF/services/org.junit.jupiter.api.extension.Extension
new file mode 100644
index 00000000000..53f1deb9372
--- /dev/null
+++ b/wpiutil/src/test/resources/META-INF/services/org.junit.jupiter.api.extension.Extension
@@ -0,0 +1 @@
+edu.wpi.first.util.WPIUtilJniTestExtension