diff --git a/gtsam/geometry/geometry.i b/gtsam/geometry/geometry.i
index 2f1810dbb..e9929227a 100644
--- a/gtsam/geometry/geometry.i
+++ b/gtsam/geometry/geometry.i
@@ -376,8 +376,8 @@ class Pose2 {
   Pose2(const gtsam::Rot2& r, const gtsam::Point2& t);
   Pose2(Vector v);
 
-  static boost::optional<gtsam::Pose2> Align(const gtsam::Point2Pairs& abPointPairs);
-  static boost::optional<gtsam::Pose2> Align(const gtsam::Matrix& a, const gtsam::Matrix& b);
+  static std::optional<gtsam::Pose2> Align(const gtsam::Point2Pairs& abPointPairs);
+  static std::optional<gtsam::Pose2> Align(const gtsam::Matrix& a, const gtsam::Matrix& b);
 
   // Testable
   void print(string s = "") const;
@@ -440,8 +440,8 @@ class Pose3 {
   Pose3(const gtsam::Pose2& pose2);
   Pose3(Matrix mat);
 
-  static boost::optional<gtsam::Pose3> Align(const gtsam::Point3Pairs& abPointPairs);
-  static boost::optional<gtsam::Pose3> Align(const gtsam::Matrix& a, const gtsam::Matrix& b);
+  static std::optional<gtsam::Pose3> Align(const gtsam::Point3Pairs& abPointPairs);
+  static std::optional<gtsam::Pose3> Align(const gtsam::Matrix& a, const gtsam::Matrix& b);
 
   // Testable
   void print(string s = "") const;
diff --git a/gtsam/navigation/navigation.i b/gtsam/navigation/navigation.i
index 7bbef9fc5..8e6090e06 100644
--- a/gtsam/navigation/navigation.i
+++ b/gtsam/navigation/navigation.i
@@ -75,8 +75,8 @@ virtual class PreintegratedRotationParams {
 
   Matrix getGyroscopeCovariance() const;
 
-  boost::optional<Vector> getOmegaCoriolis() const;
-  boost::optional<gtsam::Pose3> getBodyPSensor() const;
+  std::optional<Vector> getOmegaCoriolis() const;
+  std::optional<gtsam::Pose3> getBodyPSensor() const;
 };
 
 #include <gtsam/navigation/PreintegrationParams.h>
diff --git a/gtsam/nonlinear/nonlinear.i b/gtsam/nonlinear/nonlinear.i
index 80e87a5fa..3e3373f61 100644
--- a/gtsam/nonlinear/nonlinear.i
+++ b/gtsam/nonlinear/nonlinear.i
@@ -392,7 +392,7 @@ virtual class LinearContainerFactor : gtsam::NonlinearFactor {
   LinearContainerFactor(gtsam::GaussianFactor* factor);
 
   gtsam::GaussianFactor* factor() const;
-  //  const boost::optional<Values>& linearizationPoint() const;
+  //  const std::optional<Values>& linearizationPoint() const;
 
   bool isJacobian() const;
   gtsam::JacobianFactor* toJacobian() const;
diff --git a/gtsam_unstable/gtsam_unstable.i b/gtsam_unstable/gtsam_unstable.i
index d338b34aa..5cd7e0da2 100644
--- a/gtsam_unstable/gtsam_unstable.i
+++ b/gtsam_unstable/gtsam_unstable.i
@@ -179,7 +179,7 @@ class SimWall2D {
   gtsam::Point2 midpoint() const;
 
   bool intersects(const gtsam::SimWall2D& wall) const;
-  //   bool intersects(const gtsam::SimWall2D& wall, boost::optional<gtsam::Point2&> pt={}) const;
+  //   bool intersects(const gtsam::SimWall2D& wall, gtsam::Point2* pt = nullptr) const;
 
   gtsam::Point2 norm() const;
   gtsam::Rot2 reflection(const gtsam::Point2& init, const gtsam::Point2& intersection) const;