diff --git a/src/viam/sdk/common/client_helper.hpp b/src/viam/sdk/common/client_helper.hpp
index d8db1f338..95d1f8f09 100644
--- a/src/viam/sdk/common/client_helper.hpp
+++ b/src/viam/sdk/common/client_helper.hpp
@@ -59,7 +59,7 @@ class ClientHelper {
             ProtoValue value = key->second;
             debug_key_ = *value.get<std::string>();
         }
-        *request_.mutable_extra() = map_to_struct(extra);
+        *request_.mutable_extra() = v2::to_proto(extra);
         return with(std::forward<RequestSetupCallable>(rsc));
     }
 
diff --git a/src/viam/sdk/common/proto_value.cpp b/src/viam/sdk/common/proto_value.cpp
index 0650856de..580941c2e 100644
--- a/src/viam/sdk/common/proto_value.cpp
+++ b/src/viam/sdk/common/proto_value.cpp
@@ -43,37 +43,6 @@ ProtoValue::ProtoValue(ProtoValue&& other) noexcept(proto_value_details::all_mov
 ProtoValue::ProtoValue(const ProtoValue& other)
     : vtable_(other.vtable_), self_(other.self_, other.vtable_) {}
 
-ProtoValue::ProtoValue(const Value* value)  // NOLINT(misc-no-recursion)
-    : ProtoValue([](const Value& v) {       // NOLINT(misc-no-recursion)
-          switch (v.kind_case()) {
-              case Value::KindCase::kBoolValue: {
-                  return ProtoValue(v.bool_value());
-              }
-              case Value::KindCase::kStringValue: {
-                  return ProtoValue(v.string_value());
-              }
-              case Value::KindCase::kNumberValue: {
-                  return ProtoValue(v.number_value());
-              }
-              case Value::KindCase::kListValue: {
-                  ProtoList vec;
-                  vec.reserve(v.list_value().values_size());
-                  for (const Value& list_val : v.list_value().values()) {
-                      vec.push_back(ProtoValue::from_proto(list_val));
-                  }
-
-                  return ProtoValue(std::move(vec));
-              }
-              case Value::KindCase::kStructValue: {
-                  return ProtoValue(struct_to_map(v.struct_value()));
-              }
-              case Value::KindCase::KIND_NOT_SET:
-              case Value::KindCase::kNullValue:
-              default:
-                  return ProtoValue(nullptr);
-          }
-      }(*value)) {}
-
 ProtoValue& ProtoValue::operator=(ProtoValue&& other) noexcept(
     proto_value_details::all_moves_noexcept{}) {
     ProtoValue(std::move(other)).swap(*this);
@@ -98,13 +67,6 @@ void ProtoValue::swap(ProtoValue& other) noexcept(proto_value_details::all_moves
     std::swap(vtable_, other.vtable_);
 }
 
-template <typename Val>
-ProtoValue ProtoValue::from_proto(const Val& v) {  // NOLINT(misc-no-recursion)
-    return ProtoValue(&v);
-}
-
-template ProtoValue ProtoValue::from_proto(const Value&);
-
 ProtoValue::Kind ProtoValue::kind() const {
     return vtable_.kind();
 }
@@ -182,8 +144,8 @@ void ProtoValue::model<T>::move(void* self, void* dest) {
 }
 
 template <typename T>
-void ProtoValue::model<T>::to_proto(void const* self, google::protobuf::Value* v) {
-    viam::sdk::to_proto(static_cast<model const*>(self)->data, v);
+void ProtoValue::model<T>::to_value(void const* self, google::protobuf::Value* v) {
+    viam::sdk::proto_value_details::to_value(static_cast<model const*>(self)->data, v);
 }
 
 template <typename T>
@@ -254,53 +216,94 @@ void ProtoValue::storage::destruct(const ProtoValue::vtable& vtab) noexcept {
     vtab.dtor(this->get());
 }
 
-void to_proto(std::nullptr_t, Value* v) {
+namespace proto_value_details {
+
+void to_value(std::nullptr_t, Value* v) {
     v->set_null_value(::google::protobuf::NULL_VALUE);
 }
 
-void to_proto(bool b, Value* v) {
+void to_value(bool b, Value* v) {
     v->set_bool_value(b);
 }
 
-void to_proto(double d, Value* v) {
+void to_value(double d, Value* v) {
     v->set_number_value(d);
 }
 
-void to_proto(std::string s, Value* v) {
+void to_value(std::string s, Value* v) {
     v->set_string_value(std::move(s));
 }
 
-void to_proto(const ProtoList& vec, Value* v) {
+void to_value(const ProtoList& vec, Value* v) {
     ::google::protobuf::ListValue l;
     for (const auto& val : vec) {
-        *l.add_values() = to_proto(val);
+        *l.add_values() = v2::to_proto(val);
     }
     *(v->mutable_list_value()) = std::move(l);
 }
 
-void to_proto(const ProtoStruct& m, Value* v) {
-    Struct s;
-    map_to_struct(m, &s);
-
-    *(v->mutable_struct_value()) = std::move(s);
+void to_value(const ProtoStruct& m, Value* v) {
+    *(v->mutable_struct_value()) = v2::to_proto(m);
+}
+
+}  // namespace proto_value_details
+
+namespace proto_convert_details {
+
+void to_proto<ProtoValue>::operator()(const ProtoValue& self, google::protobuf::Value* v) const {
+    self.vtable_.to_value(self.self_.get(), v);
+}
+
+ProtoValue from_proto<google::protobuf::Value>::operator()(
+    const google::protobuf::Value* v) const {  // NOLINT(misc-no-recursion)
+    switch (v->kind_case()) {
+        case Value::KindCase::kBoolValue: {
+            return ProtoValue(v->bool_value());
+        }
+        case Value::KindCase::kStringValue: {
+            return ProtoValue(v->string_value());
+        }
+        case Value::KindCase::kNumberValue: {
+            return ProtoValue(v->number_value());
+        }
+        case Value::KindCase::kListValue: {
+            ProtoList vec;
+            vec.reserve(v->list_value().values_size());
+            for (const Value& list_val : v->list_value().values()) {
+                vec.push_back(v2::from_proto(list_val));
+            }
+
+            return ProtoValue(std::move(vec));
+        }
+        case Value::KindCase::kStructValue: {
+            return ProtoValue(v2::from_proto(v->struct_value()));
+        }
+        case Value::KindCase::KIND_NOT_SET:
+        case Value::KindCase::kNullValue:
+        default:
+            return ProtoValue(nullptr);
+    }
 }
 
-void to_proto(const ProtoValue& t, Value* v) {
-    t.vtable_.to_proto(t.self_.get(), v);
+void to_proto<ProtoStruct>::operator()(const ProtoStruct& self, google::protobuf::Struct* s) const {
+    for (const auto& kv : self) {
+        s->mutable_fields()->insert(
+            google::protobuf::MapPair<std::string, Value>(kv.first, v2::to_proto(kv.second)));
+    }
 }
 
-void struct_to_map(Struct const* s, ProtoStruct& map) {  // NOLINT(misc-no-recursion)
+ProtoStruct from_proto<google::protobuf::Struct>::operator()(
+    const google::protobuf::Struct* s) const {  // NOLINT(misc-no-recursion)
+    ProtoStruct result;
+
     for (const auto& val : s->fields()) {
-        map.emplace(val.first, ProtoValue::from_proto(val.second));
+        result.emplace(val.first, v2::from_proto(val.second));
     }
-}
 
-void map_to_struct(const ProtoStruct& m, Struct* s) {
-    for (const auto& kv : m) {
-        s->mutable_fields()->insert(
-            google::protobuf::MapPair<std::string, Value>(kv.first, to_proto(kv.second)));
-    }
+    return result;
 }
 
+}  // namespace proto_convert_details
+
 }  // namespace sdk
 }  // namespace viam
diff --git a/src/viam/sdk/common/proto_value.hpp b/src/viam/sdk/common/proto_value.hpp
index 61bd43ea1..cc5102e80 100644
--- a/src/viam/sdk/common/proto_value.hpp
+++ b/src/viam/sdk/common/proto_value.hpp
@@ -7,6 +7,8 @@
 #include <utility>
 #include <vector>
 
+#include <viam/sdk/common/proto_convert.hpp>
+
 namespace google {
 namespace protobuf {
 
@@ -52,6 +54,8 @@ struct all_moves_noexcept
 /// definition.
 class ProtoValue {
    public:
+    friend proto_convert_details::to_proto<ProtoValue>;
+
     /// @brief Type discriminator constants for possible values stored in a ProtoValue.
     enum Kind { k_null = 0, k_bool = 1, k_double = 2, k_string = 3, k_list = 4, k_struct = 5 };
 
@@ -110,15 +114,6 @@ class ProtoValue {
 
     void swap(ProtoValue& other) noexcept(proto_value_details::all_moves_noexcept{});
 
-    /// @brief Construct from proto value
-    /// @note This method is trivially templated to insulate google::protobuf::Value from our
-    /// API/ABI. It is meant to be called with no template parameters in a translation unit which
-    /// includes <google/protobuf/struct.pb.h>
-    template <typename Value = google::protobuf::Value>
-    static ProtoValue from_proto(const Value& v);  // NOLINT(misc-no-recursion)
-
-    friend void to_proto(const ProtoValue& t, google::protobuf::Value* v);
-
     /// @name Value access API
     ///@{
 
@@ -178,7 +173,7 @@ class ProtoValue {
         void (*dtor)(void*);
         void (*copy)(void const*, void*);
         void (*move)(void*, void*);
-        void (*to_proto)(void const*, google::protobuf::Value*);
+        void (*to_value)(void const*, google::protobuf::Value*);
         Kind (*kind)();
         bool (*equal_to)(void const*, void const*, const vtable&);
     };
@@ -199,13 +194,13 @@ class ProtoValue {
         // non-noexcept pointer anyway
         static void move(void* self, void* dest);
 
-        static void to_proto(void const* self, google::protobuf::Value* v);
+        static void to_value(void const* self, google::protobuf::Value* v);
 
         static Kind kind() noexcept;
 
         static bool equal_to(void const* self, void const* other, const vtable& other_vtable);
 
-        static constexpr vtable vtable_{dtor, copy, move, to_proto, kind, equal_to};
+        static constexpr vtable vtable_{dtor, copy, move, to_value, kind, equal_to};
         T data;
     };
 
@@ -320,55 +315,39 @@ extern template std::string&& ProtoValue::get_unchecked<std::string>() &&;
 extern template ProtoList&& ProtoValue::get_unchecked<ProtoList>() &&;
 extern template ProtoStruct&& ProtoValue::get_unchecked<ProtoStruct>() &&;
 
-void to_proto(std::nullptr_t, google::protobuf::Value* v);
-void to_proto(bool b, google::protobuf::Value* v);
-void to_proto(double d, google::protobuf::Value* v);
-void to_proto(std::string s, google::protobuf::Value* v);
-void to_proto(const ProtoList& vec, google::protobuf::Value* v);
-void to_proto(const ProtoStruct& m, google::protobuf::Value* v);
-void to_proto(const ProtoValue& t, google::protobuf::Value* v);
-
-void struct_to_map(google::protobuf::Struct const* s, ProtoStruct& m);
-void map_to_struct(const ProtoStruct& m, google::protobuf::Struct* s);
-
-/// @brief Convert a type to a google::protobuf::Value.
-/// @note This method is trivially templated to insulate google::protobuf::Value from our
-/// API/ABI. It is meant to be called with no template parameters in a translation unit which
-/// includes <google/protobuf/struct.pb.h>
-template <typename Value = google::protobuf::Value>
-Value to_proto(const ProtoValue& proto_value) {
-    Value v;
-    to_proto(proto_value, &v);
-
-    return v;
-}
+namespace proto_convert_details {
 
-/// @brief Convert a google::protobuf::Struct to a ProtoStruct.
-/// @note This method is trivially templated to insulate google::protobuf::Struct from our
-/// API/ABI. It is meant to be called with no template parameters in a translation unit which
-/// includes <google/protobuf/struct.pb.h>
-template <typename Struct = google::protobuf::Struct>
-ProtoStruct struct_to_map(const Struct& s) {
-    ProtoStruct result;
-    struct_to_map(&s, result);
+template <>
+struct to_proto<ProtoValue> {
+    void operator()(const ProtoValue&, google::protobuf::Value*) const;
+};
 
-    return result;
-}
+template <>
+struct to_proto<ProtoStruct> {
+    void operator()(const ProtoStruct&, google::protobuf::Struct*) const;
+};
 
-/// @brief Convert a ProtoStruct to a google::protobuf::Struct.
-/// @note This method is trivially templated to insulate google::protobuf::Struct from our
-/// API/ABI. It is meant to be called with no template parameters in a translation unit which
-/// includes <google/protobuf/struct.pb.h>
-template <typename Struct = google::protobuf::Struct>
-Struct map_to_struct(const ProtoStruct& m) {
-    Struct s;
-    map_to_struct(m, &s);
+template <>
+struct from_proto<google::protobuf::Value> {
+    ProtoValue operator()(const google::protobuf::Value*) const;
+};
 
-    return s;
-}
+template <>
+struct from_proto<google::protobuf::Struct> {
+    ProtoStruct operator()(const google::protobuf::Struct*) const;
+};
+
+}  // namespace proto_convert_details
 
 namespace proto_value_details {
 
+void to_value(std::nullptr_t, google::protobuf::Value* v);
+void to_value(bool b, google::protobuf::Value* v);
+void to_value(double d, google::protobuf::Value* v);
+void to_value(std::string s, google::protobuf::Value* v);
+void to_value(const ProtoList& vec, google::protobuf::Value* v);
+void to_value(const ProtoStruct& m, google::protobuf::Value* v);
+
 template <typename T>
 struct kind {};
 
diff --git a/src/viam/sdk/common/service_helper.hpp b/src/viam/sdk/common/service_helper.hpp
index af65418c5..0dd193fcb 100644
--- a/src/viam/sdk/common/service_helper.hpp
+++ b/src/viam/sdk/common/service_helper.hpp
@@ -49,7 +49,7 @@ class ServiceHelper : public ServiceHelperBase {
     }
 
     auto getExtra() const {
-        return request_->has_extra() ? struct_to_map(request_->extra()) : ProtoStruct{};
+        return request_->has_extra() ? v2::from_proto(request_->extra()) : ProtoStruct{};
     }
 
    private:
diff --git a/src/viam/sdk/components/private/arm_client.cpp b/src/viam/sdk/components/private/arm_client.cpp
index f58115d3c..ea889d1e4 100644
--- a/src/viam/sdk/components/private/arm_client.cpp
+++ b/src/viam/sdk/components/private/arm_client.cpp
@@ -83,8 +83,8 @@ void ArmClient::stop(const ProtoStruct& extra) {
 
 ProtoStruct ArmClient::do_command(const ProtoStruct& command) {
     return make_client_helper(this, *stub_, &StubType::DoCommand)
-        .with([&](auto& request) { *request.mutable_command() = map_to_struct(command); })
-        .invoke([](auto& response) { return struct_to_map(response.result()); });
+        .with([&](auto& request) { *request.mutable_command() = v2::to_proto(command); })
+        .invoke([](auto& response) { return v2::from_proto(response.result()); });
 }
 
 Arm::KinematicsData ArmClient::get_kinematics(const ProtoStruct& extra) {
diff --git a/src/viam/sdk/components/private/arm_server.cpp b/src/viam/sdk/components/private/arm_server.cpp
index 6eef7dd6b..505c2122c 100644
--- a/src/viam/sdk/components/private/arm_server.cpp
+++ b/src/viam/sdk/components/private/arm_server.cpp
@@ -98,8 +98,8 @@ ::grpc::Status ArmServer::DoCommand(::grpc::ServerContext*,
                                     const ::viam::common::v1::DoCommandRequest* request,
                                     ::viam::common::v1::DoCommandResponse* response) noexcept {
     return make_service_helper<Arm>("ArmServer::DoCommand", this, request)([&](auto&, auto& arm) {
-        const ProtoStruct result = arm->do_command(struct_to_map(request->command()));
-        *response->mutable_result() = map_to_struct(result);
+        const ProtoStruct result = arm->do_command(v2::from_proto(request->command()));
+        *response->mutable_result() = v2::to_proto(result);
     });
 }
 
diff --git a/src/viam/sdk/components/private/base_client.cpp b/src/viam/sdk/components/private/base_client.cpp
index ca325444a..93623d04c 100644
--- a/src/viam/sdk/components/private/base_client.cpp
+++ b/src/viam/sdk/components/private/base_client.cpp
@@ -99,8 +99,8 @@ Base::properties BaseClient::get_properties(const ProtoStruct& extra) {
 
 ProtoStruct BaseClient::do_command(const ProtoStruct& command) {
     return make_client_helper(this, *stub_, &StubType::DoCommand)
-        .with([&](auto& request) { *request.mutable_command() = map_to_struct(command); })
-        .invoke([](auto& response) { return struct_to_map(response.result()); });
+        .with([&](auto& request) { *request.mutable_command() = v2::to_proto(command); })
+        .invoke([](auto& response) { return v2::from_proto(response.result()); });
 }
 
 }  // namespace impl
diff --git a/src/viam/sdk/components/private/base_server.cpp b/src/viam/sdk/components/private/base_server.cpp
index 7c19e623d..722a1f9ae 100644
--- a/src/viam/sdk/components/private/base_server.cpp
+++ b/src/viam/sdk/components/private/base_server.cpp
@@ -106,8 +106,8 @@ ::grpc::Status BaseServer::DoCommand(grpc::ServerContext*,
                                      viam::common::v1::DoCommandResponse* response) noexcept {
     return make_service_helper<Base>(
         "BaseServer::DoCommand", this, request)([&](auto&, auto& base) {
-        const ProtoStruct result = base->do_command(struct_to_map(request->command()));
-        *response->mutable_result() = map_to_struct(result);
+        const ProtoStruct result = base->do_command(v2::from_proto(request->command()));
+        *response->mutable_result() = v2::to_proto(result);
     });
 }
 
diff --git a/src/viam/sdk/components/private/board_client.cpp b/src/viam/sdk/components/private/board_client.cpp
index 072eb0638..b6c6a952f 100644
--- a/src/viam/sdk/components/private/board_client.cpp
+++ b/src/viam/sdk/components/private/board_client.cpp
@@ -105,8 +105,8 @@ void BoardClient::set_pwm_frequency(const std::string& pin,
 
 ProtoStruct BoardClient::do_command(const ProtoStruct& command) {
     return make_client_helper(this, *stub_, &StubType::DoCommand)
-        .with([&](auto& request) { *request.mutable_command() = map_to_struct(command); })
-        .invoke([](auto& response) { return struct_to_map(response.result()); });
+        .with([&](auto& request) { *request.mutable_command() = v2::to_proto(command); })
+        .invoke([](auto& response) { return v2::from_proto(response.result()); });
 }
 
 // TODO(RSDK-6048) update `client_wrapper` to allow for requests without a `mutable_name()` method,
@@ -119,7 +119,7 @@ Board::analog_response BoardClient::read_analog(const std::string& analog_reader
 
     request.set_board_name(this->name());
     request.set_analog_reader_name(analog_reader_name);
-    *request.mutable_extra() = map_to_struct(extra);
+    *request.mutable_extra() = v2::to_proto(extra);
 
     const grpc::Status status = stub_->ReadAnalogReader(ctx, request, &response);
     if (!status.ok()) {
@@ -149,7 +149,7 @@ Board::digital_value BoardClient::read_digital_interrupt(const std::string& digi
 
     request.set_board_name(this->name());
     request.set_digital_interrupt_name(digital_interrupt_name);
-    *request.mutable_extra() = map_to_struct(extra);
+    *request.mutable_extra() = v2::to_proto(extra);
 
     const grpc::Status status = stub_->GetDigitalInterruptValue(ctx, request, &response);
     if (!status.ok()) {
diff --git a/src/viam/sdk/components/private/board_server.cpp b/src/viam/sdk/components/private/board_server.cpp
index acd4662ca..b3064912a 100644
--- a/src/viam/sdk/components/private/board_server.cpp
+++ b/src/viam/sdk/components/private/board_server.cpp
@@ -105,8 +105,8 @@ ::grpc::Status BoardServer::DoCommand(grpc::ServerContext*,
                                       viam::common::v1::DoCommandResponse* response) noexcept {
     return make_service_helper<Board>(
         "BoardServer::DoCommand", this, request)([&](auto&, auto& board) {
-        const ProtoStruct result = board->do_command(struct_to_map(request->command()));
-        *response->mutable_result() = map_to_struct(result);
+        const ProtoStruct result = board->do_command(v2::from_proto(request->command()));
+        *response->mutable_result() = v2::to_proto(result);
     });
 }
 
@@ -128,7 +128,7 @@ ::grpc::Status BoardServer::ReadAnalogReader(
 
     ProtoStruct extra;
     if (request->has_extra()) {
-        extra = struct_to_map(request->extra());
+        extra = v2::from_proto(request->extra());
     }
 
     const Board::analog_response result = board->read_analog(request->analog_reader_name(), extra);
@@ -158,7 +158,7 @@ ::grpc::Status BoardServer::WriteAnalog(
 
     ProtoStruct extra;
     if (request->has_extra()) {
-        extra = struct_to_map(request->extra());
+        extra = v2::from_proto(request->extra());
     }
 
     board->write_analog(request->pin(), request->value(), extra);
@@ -183,7 +183,7 @@ ::grpc::Status BoardServer::GetDigitalInterruptValue(
 
     ProtoStruct extra;
     if (request->has_extra()) {
-        extra = struct_to_map(request->extra());
+        extra = v2::from_proto(request->extra());
     }
 
     const Board::digital_value result =
diff --git a/src/viam/sdk/components/private/camera_client.cpp b/src/viam/sdk/components/private/camera_client.cpp
index b86c62cd7..eb2e24ced 100644
--- a/src/viam/sdk/components/private/camera_client.cpp
+++ b/src/viam/sdk/components/private/camera_client.cpp
@@ -106,8 +106,8 @@ CameraClient::CameraClient(std::string name, std::shared_ptr<grpc::Channel> chan
 
 ProtoStruct CameraClient::do_command(const ProtoStruct& command) {
     return make_client_helper(this, *stub_, &StubType::DoCommand)
-        .with([&](auto& request) { *request.mutable_command() = map_to_struct(command); })
-        .invoke([](auto& response) { return struct_to_map(response.result()); });
+        .with([&](auto& request) { *request.mutable_command() = v2::to_proto(command); })
+        .invoke([](auto& response) { return v2::from_proto(response.result()); });
 };
 
 Camera::raw_image CameraClient::get_image(std::string mime_type, const ProtoStruct& extra) {
diff --git a/src/viam/sdk/components/private/camera_server.cpp b/src/viam/sdk/components/private/camera_server.cpp
index 49ce978b9..eb3532814 100644
--- a/src/viam/sdk/components/private/camera_server.cpp
+++ b/src/viam/sdk/components/private/camera_server.cpp
@@ -42,8 +42,8 @@ ::grpc::Status CameraServer::DoCommand(::grpc::ServerContext*,
                                        ::viam::common::v1::DoCommandResponse* response) noexcept {
     return make_service_helper<Camera>(
         "CameraServer::DoCommand", this, request)([&](auto&, auto& camera) {
-        const ProtoStruct result = camera->do_command(struct_to_map(request->command()));
-        *response->mutable_result() = map_to_struct(result);
+        const ProtoStruct result = camera->do_command(v2::from_proto(request->command()));
+        *response->mutable_result() = v2::to_proto(result);
     });
 }
 
diff --git a/src/viam/sdk/components/private/encoder_client.cpp b/src/viam/sdk/components/private/encoder_client.cpp
index e09535b8a..320b095bd 100644
--- a/src/viam/sdk/components/private/encoder_client.cpp
+++ b/src/viam/sdk/components/private/encoder_client.cpp
@@ -72,8 +72,8 @@ std::vector<GeometryConfig> EncoderClient::get_geometries(const ProtoStruct& ext
 
 ProtoStruct EncoderClient::do_command(const ProtoStruct& command) {
     return make_client_helper(this, *stub_, &StubType::DoCommand)
-        .with([&](auto& request) { *request.mutable_command() = map_to_struct(command); })
-        .invoke([](auto& response) { return struct_to_map(response.result()); });
+        .with([&](auto& request) { *request.mutable_command() = v2::to_proto(command); })
+        .invoke([](auto& response) { return v2::from_proto(response.result()); });
 }
 
 }  // namespace impl
diff --git a/src/viam/sdk/components/private/encoder_server.cpp b/src/viam/sdk/components/private/encoder_server.cpp
index 798e70d14..a85cbf157 100644
--- a/src/viam/sdk/components/private/encoder_server.cpp
+++ b/src/viam/sdk/components/private/encoder_server.cpp
@@ -66,8 +66,8 @@ ::grpc::Status EncoderServer::DoCommand(grpc::ServerContext*,
                                         viam::common::v1::DoCommandResponse* response) noexcept {
     return make_service_helper<Encoder>(
         "EncoderServer::DoCommand", this, request)([&](auto&, auto& encoder) {
-        const ProtoStruct result = encoder->do_command(struct_to_map(request->command()));
-        *response->mutable_result() = map_to_struct(result);
+        const ProtoStruct result = encoder->do_command(v2::from_proto(request->command()));
+        *response->mutable_result() = v2::to_proto(result);
     });
 }
 
diff --git a/src/viam/sdk/components/private/gantry_client.cpp b/src/viam/sdk/components/private/gantry_client.cpp
index 0fac69e89..028c1c55f 100644
--- a/src/viam/sdk/components/private/gantry_client.cpp
+++ b/src/viam/sdk/components/private/gantry_client.cpp
@@ -65,8 +65,8 @@ void GantryClient::stop(const ProtoStruct& extra) {
 
 ProtoStruct GantryClient::do_command(const ProtoStruct& command) {
     return make_client_helper(this, *stub_, &StubType::DoCommand)
-        .with([&](auto& request) { *request.mutable_command() = map_to_struct(command); })
-        .invoke([](auto& response) { return struct_to_map(response.result()); });
+        .with([&](auto& request) { *request.mutable_command() = v2::to_proto(command); })
+        .invoke([](auto& response) { return v2::from_proto(response.result()); });
 }
 
 std::vector<GeometryConfig> GantryClient::get_geometries(const ProtoStruct& extra) {
diff --git a/src/viam/sdk/components/private/gantry_server.cpp b/src/viam/sdk/components/private/gantry_server.cpp
index 7e8e6f247..124f6bcef 100644
--- a/src/viam/sdk/components/private/gantry_server.cpp
+++ b/src/viam/sdk/components/private/gantry_server.cpp
@@ -75,8 +75,8 @@ ::grpc::Status GantryServer::DoCommand(::grpc::ServerContext*,
                                        ::viam::common::v1::DoCommandResponse* response) noexcept {
     return make_service_helper<Gantry>(
         "GantryServer::DoCommand", this, request)([&](auto&, auto& gantry) {
-        const ProtoStruct result = gantry->do_command(struct_to_map(request->command()));
-        *response->mutable_result() = map_to_struct(result);
+        const ProtoStruct result = gantry->do_command(v2::from_proto(request->command()));
+        *response->mutable_result() = v2::to_proto(result);
     });
 }
 
diff --git a/src/viam/sdk/components/private/generic_client.cpp b/src/viam/sdk/components/private/generic_client.cpp
index 96c8db854..ec062a860 100644
--- a/src/viam/sdk/components/private/generic_client.cpp
+++ b/src/viam/sdk/components/private/generic_client.cpp
@@ -23,8 +23,8 @@ GenericComponentClient::GenericComponentClient(std::string name,
 
 ProtoStruct GenericComponentClient::do_command(const ProtoStruct& command) {
     return make_client_helper(this, *stub_, &StubType::DoCommand)
-        .with([&](auto& request) { *request.mutable_command() = map_to_struct(command); })
-        .invoke([](auto& response) { return struct_to_map(response.result()); });
+        .with([&](auto& request) { *request.mutable_command() = v2::to_proto(command); })
+        .invoke([](auto& response) { return v2::from_proto(response.result()); });
 }
 
 std::vector<GeometryConfig> GenericComponentClient::get_geometries(const ProtoStruct& extra) {
diff --git a/src/viam/sdk/components/private/generic_server.cpp b/src/viam/sdk/components/private/generic_server.cpp
index 1e2b9423d..75860c819 100644
--- a/src/viam/sdk/components/private/generic_server.cpp
+++ b/src/viam/sdk/components/private/generic_server.cpp
@@ -17,8 +17,8 @@ ::grpc::Status GenericComponentServer::DoCommand(
     ::viam::common::v1::DoCommandResponse* response) noexcept {
     return make_service_helper<GenericComponent>(
         "GenericComponentServer::DoCommand", this, request)([&](auto&, auto& generic) {
-        const ProtoStruct result = generic->do_command(struct_to_map(request->command()));
-        *response->mutable_result() = map_to_struct(result);
+        const ProtoStruct result = generic->do_command(v2::from_proto(request->command()));
+        *response->mutable_result() = v2::to_proto(result);
     });
 }
 ::grpc::Status GenericComponentServer::GetGeometries(
diff --git a/src/viam/sdk/components/private/gripper_client.cpp b/src/viam/sdk/components/private/gripper_client.cpp
index a6070c553..6e77fd52a 100644
--- a/src/viam/sdk/components/private/gripper_client.cpp
+++ b/src/viam/sdk/components/private/gripper_client.cpp
@@ -38,8 +38,8 @@ void GripperClient::stop(const ProtoStruct& extra) {
 
 ProtoStruct GripperClient::do_command(const ProtoStruct& command) {
     return make_client_helper(this, *stub_, &StubType::DoCommand)
-        .with([&](auto& request) { *request.mutable_command() = map_to_struct(command); })
-        .invoke([](auto& response) { return struct_to_map(response.result()); });
+        .with([&](auto& request) { *request.mutable_command() = v2::to_proto(command); })
+        .invoke([](auto& response) { return v2::from_proto(response.result()); });
 }
 
 std::vector<GeometryConfig> GripperClient::get_geometries(const ProtoStruct& extra) {
diff --git a/src/viam/sdk/components/private/gripper_server.cpp b/src/viam/sdk/components/private/gripper_server.cpp
index 980988567..1675829af 100644
--- a/src/viam/sdk/components/private/gripper_server.cpp
+++ b/src/viam/sdk/components/private/gripper_server.cpp
@@ -46,8 +46,8 @@ ::grpc::Status GripperServer::DoCommand(::grpc::ServerContext*,
                                         ::viam::common::v1::DoCommandResponse* response) noexcept {
     return make_service_helper<Gripper>(
         "GripperServer::DoCommand", this, request)([&](auto&, auto& gripper) {
-        const ProtoStruct result = gripper->do_command(struct_to_map(request->command()));
-        *response->mutable_result() = map_to_struct(result);
+        const ProtoStruct result = gripper->do_command(v2::from_proto(request->command()));
+        *response->mutable_result() = v2::to_proto(result);
     });
 }
 
diff --git a/src/viam/sdk/components/private/motor_client.cpp b/src/viam/sdk/components/private/motor_client.cpp
index 7d1f438d9..bad14ccc6 100644
--- a/src/viam/sdk/components/private/motor_client.cpp
+++ b/src/viam/sdk/components/private/motor_client.cpp
@@ -113,8 +113,8 @@ bool MotorClient::is_moving() {
 
 ProtoStruct MotorClient::do_command(const ProtoStruct& command) {
     return make_client_helper(this, *stub_, &StubType::DoCommand)
-        .with([&](auto& request) { *request.mutable_command() = map_to_struct(command); })
-        .invoke([](auto& response) { return struct_to_map(response.result()); });
+        .with([&](auto& request) { *request.mutable_command() = v2::to_proto(command); })
+        .invoke([](auto& response) { return v2::from_proto(response.result()); });
 }
 
 }  // namespace impl
diff --git a/src/viam/sdk/components/private/motor_server.cpp b/src/viam/sdk/components/private/motor_server.cpp
index 69739d65e..66f366fe6 100644
--- a/src/viam/sdk/components/private/motor_server.cpp
+++ b/src/viam/sdk/components/private/motor_server.cpp
@@ -128,8 +128,8 @@ ::grpc::Status MotorServer::DoCommand(grpc::ServerContext*,
                                       viam::common::v1::DoCommandResponse* response) noexcept {
     return make_service_helper<Motor>(
         "MotorServer::GetGeometries", this, request)([&](auto&, auto& motor) {
-        const ProtoStruct result = motor->do_command(struct_to_map(request->command()));
-        *response->mutable_result() = map_to_struct(result);
+        const ProtoStruct result = motor->do_command(v2::from_proto(request->command()));
+        *response->mutable_result() = v2::to_proto(result);
     });
 }
 
diff --git a/src/viam/sdk/components/private/movement_sensor_client.cpp b/src/viam/sdk/components/private/movement_sensor_client.cpp
index a4466c622..40eeddcde 100644
--- a/src/viam/sdk/components/private/movement_sensor_client.cpp
+++ b/src/viam/sdk/components/private/movement_sensor_client.cpp
@@ -117,8 +117,8 @@ Vector3 MovementSensorClient::get_linear_acceleration(const ProtoStruct& extra)
 
 ProtoStruct MovementSensorClient::do_command(const ProtoStruct& command) {
     return make_client_helper(this, *stub_, &StubType::DoCommand)
-        .with([&](auto& request) { *request.mutable_command() = map_to_struct(command); })
-        .invoke([](auto& response) { return struct_to_map(response.result()); });
+        .with([&](auto& request) { *request.mutable_command() = v2::to_proto(command); })
+        .invoke([](auto& response) { return v2::from_proto(response.result()); });
 }
 
 std::vector<GeometryConfig> MovementSensorClient::get_geometries(const ProtoStruct& extra) {
diff --git a/src/viam/sdk/components/private/movement_sensor_server.cpp b/src/viam/sdk/components/private/movement_sensor_server.cpp
index dc3240265..7f48a61e5 100644
--- a/src/viam/sdk/components/private/movement_sensor_server.cpp
+++ b/src/viam/sdk/components/private/movement_sensor_server.cpp
@@ -131,8 +131,8 @@ ::grpc::Status MovementSensorServer::DoCommand(
     viam::common::v1::DoCommandResponse* response) noexcept {
     return make_service_helper<MovementSensor>(
         "MovementSensorServer::DoCommand", this, request)([&](auto&, auto& movementsensor) {
-        const ProtoStruct result = movementsensor->do_command(struct_to_map(request->command()));
-        *response->mutable_result() = map_to_struct(result);
+        const ProtoStruct result = movementsensor->do_command(v2::from_proto(request->command()));
+        *response->mutable_result() = v2::to_proto(result);
     });
 }
 
diff --git a/src/viam/sdk/components/private/pose_tracker_client.cpp b/src/viam/sdk/components/private/pose_tracker_client.cpp
index 7d9a7cb6c..25e1f3490 100644
--- a/src/viam/sdk/components/private/pose_tracker_client.cpp
+++ b/src/viam/sdk/components/private/pose_tracker_client.cpp
@@ -40,8 +40,8 @@ std::vector<GeometryConfig> PoseTrackerClient::get_geometries(const ProtoStruct&
 
 ProtoStruct PoseTrackerClient::do_command(const ProtoStruct& command) {
     return make_client_helper(this, *stub_, &StubType::DoCommand)
-        .with([&](auto& request) { *request.mutable_command() = map_to_struct(command); })
-        .invoke([](auto& response) { return struct_to_map(response.result()); });
+        .with([&](auto& request) { *request.mutable_command() = v2::to_proto(command); })
+        .invoke([](auto& response) { return v2::from_proto(response.result()); });
 }
 
 }  // namespace impl
diff --git a/src/viam/sdk/components/private/pose_tracker_server.cpp b/src/viam/sdk/components/private/pose_tracker_server.cpp
index 0009b9697..028acb775 100644
--- a/src/viam/sdk/components/private/pose_tracker_server.cpp
+++ b/src/viam/sdk/components/private/pose_tracker_server.cpp
@@ -36,8 +36,8 @@ ::grpc::Status PoseTrackerServer::DoCommand(
     viam::common::v1::DoCommandResponse* response) noexcept {
     return make_service_helper<PoseTracker>(
         "PoseTrackerServer::DoCommand", this, request)([&](auto&, auto& pose_tracker) {
-        const ProtoStruct result = pose_tracker->do_command(struct_to_map(request->command()));
-        *response->mutable_result() = map_to_struct(result);
+        const ProtoStruct result = pose_tracker->do_command(v2::from_proto(request->command()));
+        *response->mutable_result() = v2::to_proto(result);
     });
 }
 
diff --git a/src/viam/sdk/components/private/power_sensor_client.cpp b/src/viam/sdk/components/private/power_sensor_client.cpp
index 63f2cc6b8..4c064b9ca 100644
--- a/src/viam/sdk/components/private/power_sensor_client.cpp
+++ b/src/viam/sdk/components/private/power_sensor_client.cpp
@@ -38,7 +38,7 @@ PowerSensor::current from_proto(const GetCurrentResponse& proto) {
 PowerSensorClient::PowerSensorClient(std::string name, std::shared_ptr<grpc::Channel> channel)
     : PowerSensor(std::move(name)),
       stub_(PowerSensorService::NewStub(channel)),
-      channel_(std::move(channel)){};
+      channel_(std::move(channel)) {}
 
 PowerSensor::voltage PowerSensorClient::get_voltage(const ProtoStruct& extra) {
     return make_client_helper(this, *stub_, &StubType::GetVoltage)
@@ -64,7 +64,7 @@ ProtoStruct PowerSensorClient::get_readings(const ProtoStruct& extra) {
         .invoke([](auto& response) {
             ProtoStruct result;
             for (const auto& r : response.readings()) {
-                result.emplace(r.first, ProtoValue::from_proto(r.second));
+                result.emplace(r.first, v2::from_proto(r.second));
             }
             return result;
         });
@@ -72,8 +72,8 @@ ProtoStruct PowerSensorClient::get_readings(const ProtoStruct& extra) {
 
 ProtoStruct PowerSensorClient::do_command(const ProtoStruct& command) {
     return make_client_helper(this, *stub_, &StubType::DoCommand)
-        .with([&](auto& request) { *request.mutable_command() = map_to_struct(command); })
-        .invoke([](auto& response) { return struct_to_map(response.result()); });
+        .with([&](auto& request) { *request.mutable_command() = v2::to_proto(command); })
+        .invoke([](auto& response) { return v2::from_proto(response.result()); });
 }
 
 }  // namespace impl
diff --git a/src/viam/sdk/components/private/power_sensor_server.cpp b/src/viam/sdk/components/private/power_sensor_server.cpp
index 69461775f..4d81f013e 100644
--- a/src/viam/sdk/components/private/power_sensor_server.cpp
+++ b/src/viam/sdk/components/private/power_sensor_server.cpp
@@ -27,7 +27,7 @@ GetCurrentResponse to_proto(const PowerSensor::current& c) {
 }
 
 PowerSensorServer::PowerSensorServer(std::shared_ptr<ResourceManager> manager)
-    : ResourceServer(std::move(manager)){};
+    : ResourceServer(std::move(manager)) {}
 
 ::grpc::Status PowerSensorServer::GetVoltage(::grpc::ServerContext*,
                                              const GetVoltageRequest* request,
@@ -65,10 +65,8 @@ ::grpc::Status PowerSensorServer::GetReadings(
     viam::common::v1::GetReadingsResponse* response) noexcept {
     return make_service_helper<PowerSensor>(
         "PowerSensorServer::GetReadings", this, request)([&](auto& helper, auto& powersensor) {
-        const ProtoStruct result = powersensor->get_readings(helper.getExtra());
-        for (const auto& r : result) {
-            response->mutable_readings()->insert({r.first, to_proto(r.second)});
-        }
+        *(response->mutable_readings()) =
+            v2::to_proto(powersensor->get_readings(helper.getExtra())).fields();
     });
 }
 
@@ -78,8 +76,8 @@ ::grpc::Status PowerSensorServer::DoCommand(
     viam::common::v1::DoCommandResponse* response) noexcept {
     return make_service_helper<PowerSensor>(
         "PowerSensorServer::DoCommand", this, request)([&](auto&, auto& powersensor) {
-        const ProtoStruct result = powersensor->do_command(struct_to_map(request->command()));
-        *response->mutable_result() = map_to_struct(result);
+        const ProtoStruct result = powersensor->do_command(v2::from_proto(request->command()));
+        *response->mutable_result() = v2::to_proto(result);
     });
 }
 
diff --git a/src/viam/sdk/components/private/sensor_client.cpp b/src/viam/sdk/components/private/sensor_client.cpp
index a083b0474..b28811dd1 100644
--- a/src/viam/sdk/components/private/sensor_client.cpp
+++ b/src/viam/sdk/components/private/sensor_client.cpp
@@ -29,7 +29,7 @@ ProtoStruct SensorClient::get_readings(const ProtoStruct& extra) {
         .invoke([](auto& response) {
             ProtoStruct result;
             for (const auto& r : response.readings()) {
-                result.emplace(r.first, ProtoValue::from_proto(r.second));
+                result.emplace(r.first, v2::from_proto(r.second));
             }
             return result;
         });
@@ -37,8 +37,8 @@ ProtoStruct SensorClient::get_readings(const ProtoStruct& extra) {
 
 ProtoStruct SensorClient::do_command(const ProtoStruct& command) {
     return make_client_helper(this, *stub_, &StubType::DoCommand)
-        .with([&](auto& request) { *request.mutable_command() = map_to_struct(command); })
-        .invoke([](auto& response) { return struct_to_map(response.result()); });
+        .with([&](auto& request) { *request.mutable_command() = v2::to_proto(command); })
+        .invoke([](auto& response) { return v2::from_proto(response.result()); });
 }
 
 std::vector<GeometryConfig> SensorClient::get_geometries(const ProtoStruct& extra) {
diff --git a/src/viam/sdk/components/private/sensor_server.cpp b/src/viam/sdk/components/private/sensor_server.cpp
index 5432a0f33..47301b040 100644
--- a/src/viam/sdk/components/private/sensor_server.cpp
+++ b/src/viam/sdk/components/private/sensor_server.cpp
@@ -20,10 +20,8 @@ ::grpc::Status SensorServer::GetReadings(::grpc::ServerContext*,
                                          GetReadingsResponse* response) noexcept {
     return make_service_helper<Sensor>(
         "SensorServer::GetReadings", this, request)([&](auto& helper, auto& sensor) {
-        const ProtoStruct result = sensor->get_readings(helper.getExtra());
-        for (const auto& r : result) {
-            response->mutable_readings()->insert({r.first, to_proto(r.second)});
-        }
+        *(response->mutable_readings()) =
+            v2::to_proto(sensor->get_readings(helper.getExtra())).fields();
     });
 }
 
@@ -32,8 +30,8 @@ ::grpc::Status SensorServer::DoCommand(grpc::ServerContext*,
                                        DoCommandResponse* response) noexcept {
     return make_service_helper<Sensor>(
         "SensorServer::DoCommand", this, request)([&](auto&, auto& sensor) {
-        const ProtoStruct result = sensor->do_command(struct_to_map(request->command()));
-        *response->mutable_result() = map_to_struct(result);
+        const ProtoStruct result = sensor->do_command(v2::from_proto(request->command()));
+        *response->mutable_result() = v2::to_proto(result);
     });
 }
 
diff --git a/src/viam/sdk/components/private/servo_client.cpp b/src/viam/sdk/components/private/servo_client.cpp
index 6b27bdaff..eb5004e84 100644
--- a/src/viam/sdk/components/private/servo_client.cpp
+++ b/src/viam/sdk/components/private/servo_client.cpp
@@ -57,8 +57,8 @@ std::vector<GeometryConfig> ServoClient::get_geometries(const ProtoStruct& extra
 
 ProtoStruct ServoClient::do_command(const ProtoStruct& command) {
     return make_client_helper(this, *stub_, &StubType::DoCommand)
-        .with([&](auto& request) { *request.mutable_command() = map_to_struct(command); })
-        .invoke([](auto& response) { return struct_to_map(response.result()); });
+        .with([&](auto& request) { *request.mutable_command() = v2::to_proto(command); })
+        .invoke([](auto& response) { return v2::from_proto(response.result()); });
 }
 
 }  // namespace impl
diff --git a/src/viam/sdk/components/private/servo_server.cpp b/src/viam/sdk/components/private/servo_server.cpp
index 8392366a4..831b57781 100644
--- a/src/viam/sdk/components/private/servo_server.cpp
+++ b/src/viam/sdk/components/private/servo_server.cpp
@@ -67,8 +67,8 @@ ::grpc::Status ServoServer::DoCommand(grpc::ServerContext*,
                                       viam::common::v1::DoCommandResponse* response) noexcept {
     return make_service_helper<Servo>(
         "ServoServer::GetGeometries", this, request)([&](auto&, auto& servo) {
-        const ProtoStruct result = servo->do_command(struct_to_map(request->command()));
-        *response->mutable_result() = map_to_struct(result);
+        const ProtoStruct result = servo->do_command(v2::from_proto(request->command()));
+        *response->mutable_result() = v2::to_proto(result);
     });
 }
 
diff --git a/src/viam/sdk/config/resource.cpp b/src/viam/sdk/config/resource.cpp
index 5831428ba..ed772a328 100644
--- a/src/viam/sdk/config/resource.cpp
+++ b/src/viam/sdk/config/resource.cpp
@@ -96,7 +96,7 @@ ResourceConfig ResourceConfig::from_proto(const viam::app::v1::ComponentConfig&
     resource.name_ = proto_cfg.name();
     resource.namespace__ = proto_cfg.namespace_();
     resource.type_ = proto_cfg.type();
-    resource.attributes_ = struct_to_map(proto_cfg.attributes());
+    resource.attributes_ = v2::from_proto(proto_cfg.attributes());
     const std::string& api = proto_cfg.api();
     if (api.find(':') != std::string::npos) {
         resource.api_ = API::from_string(api);
@@ -114,14 +114,14 @@ ResourceConfig ResourceConfig::from_proto(const viam::app::v1::ComponentConfig&
 
 viam::app::v1::ComponentConfig ResourceConfig::to_proto() const {
     viam::app::v1::ComponentConfig proto_cfg;
-    const google::protobuf::Struct s = map_to_struct(attributes_);
+    const google::protobuf::Struct s = v2::to_proto(attributes_);
     const google::protobuf::RepeatedPtrField<viam::app::v1::ResourceLevelServiceConfig>
         service_configs;
 
     for (const auto& svc_cfg : service_config_) {
         viam::app::v1::ResourceLevelServiceConfig cfg;
         *cfg.mutable_type() = svc_cfg.type;
-        *cfg.mutable_attributes() = map_to_struct(svc_cfg.attributes);
+        *cfg.mutable_attributes() = v2::to_proto(svc_cfg.attributes);
         *proto_cfg.mutable_service_configs()->Add() = cfg;
     }
 
@@ -131,7 +131,7 @@ viam::app::v1::ComponentConfig ResourceConfig::to_proto() const {
     *proto_cfg.mutable_api() = api_.to_string();
     const std::string mm = model_.to_string();
     *proto_cfg.mutable_model() = mm;
-    *proto_cfg.mutable_attributes() = map_to_struct(attributes_);
+    *proto_cfg.mutable_attributes() = v2::to_proto(attributes_);
     for (const auto& dep : depends_on_) {
         *proto_cfg.mutable_depends_on()->Add() = dep;
     }
diff --git a/src/viam/sdk/robot/client.cpp b/src/viam/sdk/robot/client.cpp
index 068f9bc32..24f3fdee8 100644
--- a/src/viam/sdk/robot/client.cpp
+++ b/src/viam/sdk/robot/client.cpp
@@ -66,7 +66,7 @@ RobotClient::discovery_query from_proto(const DiscoveryQuery& proto) {
 RobotClient::discovery from_proto(const Discovery& proto) {
     RobotClient::discovery discovery;
     discovery.query = from_proto(proto.query());
-    discovery.results = struct_to_map(proto.results());
+    discovery.results = v2::from_proto(proto.results());
     return discovery;
 }
 
@@ -74,7 +74,7 @@ RobotClient::frame_system_config from_proto(const FrameSystemConfig& proto) {
     RobotClient::frame_system_config fsconfig;
     fsconfig.frame = v2::from_proto(proto.frame());
     if (proto.has_kinematics()) {
-        fsconfig.kinematics = struct_to_map(proto.kinematics());
+        fsconfig.kinematics = v2::from_proto(proto.kinematics());
     }
     return fsconfig;
 }
@@ -85,7 +85,7 @@ RobotClient::status from_proto(const Status& proto) {
         status.name = Name::from_proto(proto.name());
     }
     if (proto.has_status()) {
-        status.status_map = struct_to_map(proto.status());
+        status.status_map = v2::from_proto(proto.status());
     }
     if (proto.has_last_reconfigured()) {
         status.last_reconfigured = timestamp_to_time_pt(proto.last_reconfigured());
@@ -101,7 +101,7 @@ RobotClient::operation from_proto(const Operation& proto) {
         op.session_id = proto.session_id();
     }
     if (proto.has_arguments()) {
-        op.arguments = struct_to_map(proto.arguments());
+        op.arguments = v2::from_proto(proto.arguments());
     }
     if (proto.has_started()) {
         op.started = timestamp_to_time_pt(proto.started());
@@ -115,20 +115,20 @@ bool operator==(const RobotClient::discovery_query& lhs, const RobotClient::disc
 }
 
 bool operator==(const RobotClient::discovery& lhs, const RobotClient::discovery& rhs) {
-    return lhs.query == rhs.query && map_to_struct(lhs.results).SerializeAsString() ==
-                                         map_to_struct(rhs.results).SerializeAsString();
+    return lhs.query == rhs.query && v2::to_proto(lhs.results).SerializeAsString() ==
+                                         v2::to_proto(rhs.results).SerializeAsString();
 }
 
 bool operator==(const RobotClient::frame_system_config& lhs,
                 const RobotClient::frame_system_config& rhs) {
-    return lhs.frame == rhs.frame && map_to_struct(lhs.kinematics).SerializeAsString() ==
-                                         map_to_struct(rhs.kinematics).SerializeAsString();
+    return lhs.frame == rhs.frame && v2::to_proto(lhs.kinematics).SerializeAsString() ==
+                                         v2::to_proto(rhs.kinematics).SerializeAsString();
 }
 
 bool operator==(const RobotClient::status& lhs, const RobotClient::status& rhs) {
     return lhs.name == rhs.name &&
-           map_to_struct(lhs.status_map).SerializeAsString() ==
-               map_to_struct(rhs.status_map).SerializeAsString() &&
+           v2::to_proto(lhs.status_map).SerializeAsString() ==
+               v2::to_proto(rhs.status_map).SerializeAsString() &&
            lhs.last_reconfigured == rhs.last_reconfigured;
 }
 
@@ -454,7 +454,7 @@ void RobotClient::stop_all(const std::unordered_map<Name, ProtoStruct>& extra) {
     for (const auto& xtra : extra) {
         const Name& name = xtra.first;
         const ProtoStruct& params = xtra.second;
-        const google::protobuf::Struct s = map_to_struct(params);
+        const google::protobuf::Struct s = v2::to_proto(params);
         viam::robot::v1::StopExtraParameters stop;
         *stop.mutable_name() = name.to_proto();
         *stop.mutable_params() = s;
diff --git a/src/viam/sdk/robot/service.cpp b/src/viam/sdk/robot/service.cpp
index 20f5d62bb..cb8bdc40b 100644
--- a/src/viam/sdk/robot/service.cpp
+++ b/src/viam/sdk/robot/service.cpp
@@ -185,7 +185,7 @@ ::grpc::Status RobotService_::StopAll(::grpc::ServerContext*,
     std::unordered_map<std::string, ProtoStruct> extra;
     for (const auto& ex : request->extra()) {
         const google::protobuf::Struct& struct_ = ex.params();
-        const ProtoStruct value_map = struct_to_map(struct_);
+        const ProtoStruct value_map = v2::from_proto(struct_);
         const std::string name = ex.name().SerializeAsString();
         extra.emplace(name, value_map);
     }
diff --git a/src/viam/sdk/services/private/generic_client.cpp b/src/viam/sdk/services/private/generic_client.cpp
index de953d291..dabe414ec 100644
--- a/src/viam/sdk/services/private/generic_client.cpp
+++ b/src/viam/sdk/services/private/generic_client.cpp
@@ -22,8 +22,8 @@ GenericServiceClient::GenericServiceClient(std::string name, std::shared_ptr<grp
 
 ProtoStruct GenericServiceClient::do_command(const ProtoStruct& command) {
     return make_client_helper(this, *stub_, &StubType::DoCommand)
-        .with([&](auto& request) { *request.mutable_command() = map_to_struct(command); })
-        .invoke([](auto& response) { return struct_to_map(response.result()); });
+        .with([&](auto& request) { *request.mutable_command() = v2::to_proto(command); })
+        .invoke([](auto& response) { return v2::from_proto(response.result()); });
 }
 
 }  // namespace impl
diff --git a/src/viam/sdk/services/private/generic_server.cpp b/src/viam/sdk/services/private/generic_server.cpp
index 0e5a2586a..efecfcbfd 100644
--- a/src/viam/sdk/services/private/generic_server.cpp
+++ b/src/viam/sdk/services/private/generic_server.cpp
@@ -9,7 +9,7 @@ namespace sdk {
 namespace impl {
 
 GenericServiceServer::GenericServiceServer(std::shared_ptr<ResourceManager> manager)
-    : ResourceServer(std::move(manager)){};
+    : ResourceServer(std::move(manager)) {}
 
 ::grpc::Status GenericServiceServer::DoCommand(
     ::grpc::ServerContext*,
@@ -17,8 +17,8 @@ ::grpc::Status GenericServiceServer::DoCommand(
     ::viam::common::v1::DoCommandResponse* response) noexcept {
     return make_service_helper<GenericService>(
         "GenericServiceServer::DoCommand", this, request)([&](auto&, auto& generic) {
-        const ProtoStruct result = generic->do_command(struct_to_map(request->command()));
-        *response->mutable_result() = map_to_struct(result);
+        const ProtoStruct result = generic->do_command(v2::from_proto(request->command()));
+        *response->mutable_result() = v2::to_proto(result);
     });
 }
 
diff --git a/src/viam/sdk/services/private/mlmodel_client.cpp b/src/viam/sdk/services/private/mlmodel_client.cpp
index d02405980..8b7fd6039 100644
--- a/src/viam/sdk/services/private/mlmodel_client.cpp
+++ b/src/viam/sdk/services/private/mlmodel_client.cpp
@@ -49,7 +49,7 @@ std::shared_ptr<MLModelService::named_tensor_views> MLModelServiceClient::infer(
     auto* const req = pb::Arena::VIAM_SDK_PB_CREATE_MESSAGE<mlpb::InferRequest>(arena.get());
 
     req->set_name(this->name());
-    *req->mutable_extra() = map_to_struct(extra);
+    *req->mutable_extra() = v2::to_proto(extra);
     auto* const resp = pb::Arena::VIAM_SDK_PB_CREATE_MESSAGE<mlpb::InferResponse>(arena.get());
     ClientContext ctx;
 
@@ -93,7 +93,7 @@ struct MLModelService::metadata MLModelServiceClient::metadata(const ProtoStruct
     // Encode metadata args into a `MetadataRequest`
     viam::service::mlmodel::v1::MetadataRequest req;
     *req.mutable_name() = name();
-    *req.mutable_extra() = map_to_struct(extra);
+    *req.mutable_extra() = v2::to_proto(extra);
 
     // Invoke the stub
     ClientContext ctx;
@@ -150,7 +150,7 @@ struct MLModelService::metadata MLModelServiceClient::metadata(const ProtoStruct
                     }
                 }
                 if (s.has_extra()) {
-                    ti.extra = struct_to_map(s.extra());
+                    ti.extra = v2::from_proto(s.extra());
                 }
             }
         };
diff --git a/src/viam/sdk/services/private/mlmodel_server.cpp b/src/viam/sdk/services/private/mlmodel_server.cpp
index da0ac4b91..2e3d3c2c2 100644
--- a/src/viam/sdk/services/private/mlmodel_server.cpp
+++ b/src/viam/sdk/services/private/mlmodel_server.cpp
@@ -142,7 +142,7 @@ ::grpc::Status MLModelServiceServer::Metadata(
                             break;
                     }
                 }
-                *new_entry.mutable_extra() = map_to_struct(s.extra);
+                *new_entry.mutable_extra() = v2::to_proto(s.extra);
             }
             return ::grpc::Status();
         };
diff --git a/src/viam/sdk/services/private/motion_client.cpp b/src/viam/sdk/services/private/motion_client.cpp
index fa87ae56e..fe5aa59fe 100644
--- a/src/viam/sdk/services/private/motion_client.cpp
+++ b/src/viam/sdk/services/private/motion_client.cpp
@@ -351,8 +351,8 @@ std::vector<Motion::plan_status_with_id> MotionClient::list_active_plan_statuses
 
 ProtoStruct MotionClient::do_command(const ProtoStruct& command) {
     return make_client_helper(this, *stub_, &StubType::DoCommand)
-        .with([&](auto& request) { *request.mutable_command() = map_to_struct(command); })
-        .invoke([](auto& response) { return struct_to_map(response.result()); });
+        .with([&](auto& request) { *request.mutable_command() = v2::to_proto(command); })
+        .invoke([](auto& response) { return v2::from_proto(response.result()); });
 }
 
 }  // namespace impl
diff --git a/src/viam/sdk/services/private/motion_server.cpp b/src/viam/sdk/services/private/motion_server.cpp
index fcc28dbcf..0f81af575 100644
--- a/src/viam/sdk/services/private/motion_server.cpp
+++ b/src/viam/sdk/services/private/motion_server.cpp
@@ -354,8 +354,8 @@ ::grpc::Status MotionServer::DoCommand(::grpc::ServerContext*,
                                        ::viam::common::v1::DoCommandResponse* response) noexcept {
     return make_service_helper<Motion>(
         "MotionServer::DoCommand", this, request)([&](auto&, auto& motion) {
-        const ProtoStruct result = motion->do_command(struct_to_map(request->command()));
-        *response->mutable_result() = map_to_struct(result);
+        const ProtoStruct result = motion->do_command(v2::from_proto(request->command()));
+        *response->mutable_result() = v2::to_proto(result);
     });
 };
 
diff --git a/src/viam/sdk/services/private/navigation_client.cpp b/src/viam/sdk/services/private/navigation_client.cpp
index da4e1bf65..a165eda58 100644
--- a/src/viam/sdk/services/private/navigation_client.cpp
+++ b/src/viam/sdk/services/private/navigation_client.cpp
@@ -36,7 +36,7 @@ NavigationClient::NavigationClient(std::string name, std::shared_ptr<grpc::Chann
 
 Navigation::Mode NavigationClient::get_mode(const ProtoStruct& extra) {
     return make_client_helper(this, *stub_, &StubType::GetMode)
-        .with([&](auto& request) { *request.mutable_extra() = map_to_struct(extra); })
+        .with([&](auto& request) { *request.mutable_extra() = v2::to_proto(extra); })
         .invoke([](auto& response) { return Navigation::Mode(response.mode()); });
 }
 
@@ -44,14 +44,14 @@ void NavigationClient::set_mode(const Navigation::Mode mode, const ProtoStruct&
     return make_client_helper(this, *stub_, &StubType::SetMode)
         .with([&](auto& request) {
             request.set_mode(viam::service::navigation::v1::Mode(mode));
-            *request.mutable_extra() = map_to_struct(extra);
+            *request.mutable_extra() = v2::to_proto(extra);
         })
         .invoke([](auto& response) {});
 }
 
 Navigation::LocationResponse NavigationClient::get_location(const ProtoStruct& extra) {
     return make_client_helper(this, *stub_, &StubType::GetLocation)
-        .with([&](auto& request) { *request.mutable_extra() = map_to_struct(extra); })
+        .with([&](auto& request) { *request.mutable_extra() = v2::to_proto(extra); })
         .invoke([](auto& response) {
             return Navigation::LocationResponse{
                 v2::from_proto(response.location()),
@@ -62,7 +62,7 @@ Navigation::LocationResponse NavigationClient::get_location(const ProtoStruct& e
 
 std::vector<Navigation::Waypoint> NavigationClient::get_waypoints(const ProtoStruct& extra) {
     return make_client_helper(this, *stub_, &StubType::GetWaypoints)
-        .with([&](auto& request) { *request.mutable_extra() = map_to_struct(extra); })
+        .with([&](auto& request) { *request.mutable_extra() = v2::to_proto(extra); })
         .invoke([](auto& response) {
             std::vector<Navigation::Waypoint> ret;
             repeatedPtrToVec(response.waypoints(), ret, from_proto);
@@ -74,7 +74,7 @@ void NavigationClient::add_waypoint(const geo_point& location, const ProtoStruct
     return make_client_helper(this, *stub_, &StubType::AddWaypoint)
         .with([&](auto& request) {
             *request.mutable_location() = v2::to_proto(location);
-            *request.mutable_extra() = map_to_struct(extra);
+            *request.mutable_extra() = v2::to_proto(extra);
         })
         .invoke([](auto& response) {});
 }
@@ -83,14 +83,14 @@ void NavigationClient::remove_waypoint(const std::string id, const ProtoStruct&
     return make_client_helper(this, *stub_, &StubType::RemoveWaypoint)
         .with([&](auto& request) {
             *request.mutable_id() = id;
-            *request.mutable_extra() = map_to_struct(extra);
+            *request.mutable_extra() = v2::to_proto(extra);
         })
         .invoke([](auto& response) {});
 }
 
 std::vector<geo_geometry> NavigationClient::get_obstacles(const ProtoStruct& extra) {
     return make_client_helper(this, *stub_, &StubType::GetObstacles)
-        .with([&](auto& request) { *request.mutable_extra() = map_to_struct(extra); })
+        .with([&](auto& request) { *request.mutable_extra() = v2::to_proto(extra); })
         .invoke([](auto& response) {
             std::vector<geo_geometry> ret;
             repeatedPtrToVec(response.obstacles(), ret);
@@ -100,7 +100,7 @@ std::vector<geo_geometry> NavigationClient::get_obstacles(const ProtoStruct& ext
 
 std::vector<NavigationClient::Path> NavigationClient::get_paths(const ProtoStruct& extra) {
     return make_client_helper(this, *stub_, &StubType::GetPaths)
-        .with([&](auto& request) { *request.mutable_extra() = map_to_struct(extra); })
+        .with([&](auto& request) { *request.mutable_extra() = v2::to_proto(extra); })
         .invoke([](auto& response) {
             std::vector<Path> ret;
             repeatedPtrToVec(response.paths(), ret, from_proto);
@@ -116,8 +116,8 @@ NavigationClient::Properties NavigationClient::get_properties() {
 
 ProtoStruct NavigationClient::do_command(const ProtoStruct& command) {
     return make_client_helper(this, *stub_, &StubType::DoCommand)
-        .with([&](auto& request) { *request.mutable_command() = map_to_struct(command); })
-        .invoke([](auto& response) { return struct_to_map(response.result()); });
+        .with([&](auto& request) { *request.mutable_command() = v2::to_proto(command); })
+        .invoke([](auto& response) { return v2::from_proto(response.result()); });
 }
 
 }  // namespace impl
diff --git a/src/viam/sdk/services/private/navigation_server.cpp b/src/viam/sdk/services/private/navigation_server.cpp
index 5d8bdc2c2..f803918fa 100644
--- a/src/viam/sdk/services/private/navigation_server.cpp
+++ b/src/viam/sdk/services/private/navigation_server.cpp
@@ -122,8 +122,8 @@ ::grpc::Status NavigationServer::DoCommand(
     ::viam::common::v1::DoCommandResponse* response) noexcept {
     return make_service_helper<Navigation>(
         "NavigationServer::DoCommand", this, request)([&](auto&, auto& motion) {
-        const ProtoStruct result = motion->do_command(struct_to_map(request->command()));
-        *response->mutable_result() = map_to_struct(result);
+        const ProtoStruct result = motion->do_command(v2::from_proto(request->command()));
+        *response->mutable_result() = v2::to_proto(result);
     });
 };
 
diff --git a/src/viam/sdk/tests/mocks/mock_robot.cpp b/src/viam/sdk/tests/mocks/mock_robot.cpp
index 43b9b509a..7f9e23a13 100644
--- a/src/viam/sdk/tests/mocks/mock_robot.cpp
+++ b/src/viam/sdk/tests/mocks/mock_robot.cpp
@@ -95,7 +95,7 @@ std::vector<Discovery> mock_proto_discovery_response() {
 
         viam::robot::v1::Discovery discovery;
         *discovery.mutable_query() = query;
-        *discovery.mutable_results() = map_to_struct(d.results);
+        *discovery.mutable_results() = v2::to_proto(d.results);
 
         v.push_back(std::move(discovery));
     }
diff --git a/src/viam/sdk/tests/test_proto_value.cpp b/src/viam/sdk/tests/test_proto_value.cpp
index 169110e8c..320002854 100644
--- a/src/viam/sdk/tests/test_proto_value.cpp
+++ b/src/viam/sdk/tests/test_proto_value.cpp
@@ -91,9 +91,9 @@ BOOST_AUTO_TEST_CASE(test_object_equality) {
             BOOST_CHECK(v1_copy_to_change == v3);
         }
 
-        Value converted = to_proto(v3);
-        auto roundtrip = ProtoValue::from_proto(converted);
-        Value value_roundtrip = to_proto(roundtrip);
+        Value converted = v2::to_proto(v3);
+        auto roundtrip = v2::from_proto(converted);
+        Value value_roundtrip = v2::to_proto(roundtrip);
 
         BOOST_CHECK(v3.kind() == roundtrip.kind());
 
@@ -215,9 +215,9 @@ BOOST_AUTO_TEST_CASE(test_nested_objects) {
 
     ProtoValue map_proto(map);
 
-    Value val = to_proto(map_proto);
-    auto roundtrip = ProtoValue::from_proto(val);
-    Value val2 = to_proto(roundtrip);
+    Value val = v2::to_proto(map_proto);
+    auto roundtrip = v2::from_proto(val);
+    Value val2 = v2::to_proto(roundtrip);
 
     BOOST_CHECK(map_proto == roundtrip);
 
@@ -243,13 +243,13 @@ BOOST_AUTO_TEST_CASE(test_manual_list_conversion) {
         Value protoval;
         set_proto_value(protoval, test_val);
 
-        auto from_value = ProtoValue::from_proto(protoval);
+        auto from_value = v2::from_proto(protoval);
         BOOST_CHECK(val == from_value);
 
-        Value converted_to_value = to_proto(val);
+        Value converted_to_value = v2::to_proto(val);
         BOOST_CHECK(protoval.ShortDebugString() == converted_to_value.ShortDebugString());
 
-        auto roundtrip = ProtoValue::from_proto(converted_to_value);
+        auto roundtrip = v2::from_proto(converted_to_value);
 
         BOOST_CHECK(val == roundtrip);
     });
@@ -286,10 +286,10 @@ BOOST_AUTO_TEST_CASE(test_manual_list_conversion) {
     Value v;
     *v.mutable_list_value() = lv;
 
-    Value value_from_proto = to_proto(proto);
+    Value value_from_proto = v2::to_proto(proto);
     BOOST_CHECK(v.ShortDebugString() == value_from_proto.ShortDebugString());
 
-    auto roundtrip = ProtoValue::from_proto(value_from_proto);
+    auto roundtrip = v2::from_proto(value_from_proto);
     BOOST_CHECK(proto == roundtrip);
 }
 
@@ -314,7 +314,7 @@ BOOST_AUTO_TEST_CASE(test_manual_map_conversion) {
     Value v;
     *v.mutable_struct_value() = proto_struct;
 
-    auto from_proto = ProtoValue::from_proto(v);
+    auto from_proto = v2::from_proto(v);
     ProtoValue from_map(m);
     BOOST_CHECK(from_proto == from_map);
 
diff --git a/src/viam/sdk/tests/test_resource.cpp b/src/viam/sdk/tests/test_resource.cpp
index a14bfa917..db950355a 100644
--- a/src/viam/sdk/tests/test_resource.cpp
+++ b/src/viam/sdk/tests/test_resource.cpp
@@ -246,7 +246,7 @@ BOOST_AUTO_TEST_CASE(test_resource) {
     Value value;
     for (const auto& key_and_value : resource2.attributes()) {
         key = key_and_value.first;
-        value = to_proto(key_and_value.second);
+        value = v2::to_proto(key_and_value.second);
     }
     BOOST_CHECK_EQUAL(key, "a");
     BOOST_CHECK_EQUAL(value.number_value(), 1);
diff --git a/src/viam/sdk/tests/test_robot.cpp b/src/viam/sdk/tests/test_robot.cpp
index a7658b3f5..605e5f5bf 100644
--- a/src/viam/sdk/tests/test_robot.cpp
+++ b/src/viam/sdk/tests/test_robot.cpp
@@ -152,7 +152,7 @@ BOOST_AUTO_TEST_CASE(test_frame_system_config) {
                               proto1.frame().pose_in_observer_frame().pose().o_x());
             BOOST_CHECK_EQUAL(config1.frame.pose_in_observer_frame.pose.theta,
                               proto1.frame().pose_in_observer_frame().pose().theta());
-            BOOST_CHECK_EQUAL(map_to_struct(config1.kinematics).SerializeAsString(),
+            BOOST_CHECK_EQUAL(v2::to_proto(config1.kinematics).SerializeAsString(),
                               proto1.kinematics().SerializeAsString());
 
             BOOST_CHECK_EQUAL(config2.frame.reference_frame, proto2.frame().reference_frame());
@@ -162,7 +162,7 @@ BOOST_AUTO_TEST_CASE(test_frame_system_config) {
                               proto2.frame().pose_in_observer_frame().pose().o_x());
             BOOST_CHECK_EQUAL(config2.frame.pose_in_observer_frame.pose.theta,
                               proto2.frame().pose_in_observer_frame().pose().theta());
-            BOOST_CHECK_EQUAL(map_to_struct(config2.kinematics).SerializeAsString(),
+            BOOST_CHECK_EQUAL(v2::to_proto(config2.kinematics).SerializeAsString(),
                               proto2.kinematics().SerializeAsString());
         });
 }
@@ -227,7 +227,7 @@ BOOST_AUTO_TEST_CASE(test_discovery) {
             // test `ProtoValue` conversions. Unfortunately the protobuf `ListValue` type doesn't
             // seem to have `==` defined, so we convert to a `DebugString` here to verify
             // comparison and to provide helpful printing of differences in case of an error.
-            BOOST_CHECK_EQUAL(to_proto(results->second).DebugString(),
+            BOOST_CHECK_EQUAL(v2::to_proto(results->second).DebugString(),
                               proto_results->second.DebugString());
         });
 }