diff --git a/trajectory_native/build_casadi.sh b/trajectory_native/build_casadi.sh
index 228412d2..00a15ce8 100644
--- a/trajectory_native/build_casadi.sh
+++ b/trajectory_native/build_casadi.sh
@@ -3,7 +3,7 @@ apk add --update clang make cmake blas-dev lapack-dev tinyxml2-dev
 
 CC=clang
 CXX=clang++
-CASADI_VERSION="3.6.4"
+CASADI_VERSION="3.6.5"
 
 wget -c https://github.com/casadi/casadi/archive/refs/tags/$CASADI_VERSION.tar.gz -O - | tar -xz
 mkdir casadi-$CASADI_VERSION/build
diff --git a/trajectory_native/build_trajoptlib.sh b/trajectory_native/build_trajoptlib.sh
index 21f3b3f6..a8002c33 100644
--- a/trajectory_native/build_trajoptlib.sh
+++ b/trajectory_native/build_trajoptlib.sh
@@ -3,7 +3,7 @@ apk add --update clang make cmake git
 
 CC=clang
 CXX=clang++
-TRAJOPT_COMMIT=f6cf3d42359f6f41f311f848a4e7f51c3f88c2ca
+TRAJOPT_COMMIT=fee4a12f90abcf96d2c09a6ef737cd29b8b706d3
 
 wget -c https://github.com/SleipnirGroup/TrajoptLib/archive/$TRAJOPT_COMMIT.tar.gz -O - | tar -xz
 mkdir TrajoptLib-$TRAJOPT_COMMIT/build
diff --git a/trajectory_native/src/trajectory_service.cpp b/trajectory_native/src/trajectory_service.cpp
index db9fdc77..83f360c6 100644
--- a/trajectory_native/src/trajectory_service.cpp
+++ b/trajectory_native/src/trajectory_service.cpp
@@ -17,7 +17,7 @@ namespace vts = org::littletonrobotics::vehicletrajectoryservice;
 
 // Scales the Choreo algorithm's estimate of initial guess points, since we've found it to sometimes underestimate.
 // We take the tradeoff of increased computation time since we cache paths anyway.
-static const double CONTROL_INTERVAL_GUESS_SCALAR = 1.0;
+static const double CONTROL_INTERVAL_GUESS_SCALAR = 1.25;
 
 static const int MINIMUM_CONTROL_INTERVAL_COUNT = 0;
 
diff --git a/trajectory_native/trajoptlib-CMakeLists.txt b/trajectory_native/trajoptlib-CMakeLists.txt
index ab938160..10a2cad2 100644
--- a/trajectory_native/trajoptlib-CMakeLists.txt
+++ b/trajectory_native/trajoptlib-CMakeLists.txt
@@ -136,8 +136,9 @@ elseif(${OPTIMIZER_BACKEND} STREQUAL "sleipnir")
     fetchcontent_declare(
         Sleipnir
         GIT_REPOSITORY https://github.com/SleipnirGroup/Sleipnir.git
-        # main on 2024-03-02
-        GIT_TAG 249c4b4d688076524f8b49361b3595ee1c7b0e3a
+
+        # main on 2024-04-11
+        GIT_TAG a546475c97a1d137ce5b9e12a3cebb0dfd6dcc66
     )
     fetchcontent_makeavailable(Sleipnir)