diff --git a/docs/api/ros2.md b/docs/api/ros2.md
index 160852ab..91d8fd55 100644
--- a/docs/api/ros2.md
+++ b/docs/api/ros2.md
@@ -17,7 +17,7 @@ $ ros2 topic list -t
 /cmd_audio [irobot_create_msgs/msg/AudioNoteVector]
 /cmd_lightring [irobot_create_msgs/msg/LightringLeds]
 /cmd_vel [geometry_msgs/msg/Twist]
-/dock [irobot_create_msgs/msg/Dock]
+/dock_status [irobot_create_msgs/msg/DockStatus]
 /hazard_detection [irobot_create_msgs/msg/HazardDetectionVector]
 /imu [sensor_msgs/msg/Imu]
 /interface_buttons [irobot_create_msgs/msg/InterfaceButtons]
@@ -93,7 +93,7 @@ You can see the ROS 2 action servers exposed by the Create® 3 robot running the
 ```bash
 $ ros2 action list -t
 /audio_note_sequence [irobot_create_msgs/action/AudioNoteSequence]
-/dock [irobot_create_msgs/action/DockServo]
+/dock [irobot_create_msgs/action/Dock]
 /drive_arc [irobot_create_msgs/action/DriveArc]
 /drive_distance [irobot_create_msgs/action/DriveDistance]
 /led_animation [irobot_create_msgs/action/LedAnimation]
diff --git a/docs/setup/pi4humble.md b/docs/setup/pi4humble.md
index 4e6eed8c..bf1ae461 100644
--- a/docs/setup/pi4humble.md
+++ b/docs/setup/pi4humble.md
@@ -1,15 +1,12 @@
 # Connect Create® 3 to Raspberry Pi® 4 and set up ROS 2 Humble
 
-!!! note
-    As of March 2023, use of Galactic is recommended, as it is more performant than Humble on Create 3.
-
 ## Before you start
 !!! attention
     **These directions are written for someone with experience with embedded Linux and basic embedded computers.**
 It is highly recommended to read through the following documents before beginning:
 
 * [How to install Ubuntu Server on your Raspberry Pi](https://ubuntu.com/tutorials/how-to-install-ubuntu-on-your-raspberry-pi)[^1] - official Canonical documentation
-* [Installing ROS 2 on Ubuntu Linux](https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html)[^1] - official Open Robotics documentation
+* [Installing ROS 2 on Ubuntu Linux](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html)[^1] - official Open Robotics documentation
 
 ## Step-by-step
 
@@ -19,10 +16,12 @@ It is highly recommended to read through the following documents before beginnin
 
 1. Insert your microSD card into your computer and under storage in the Raspberry Pi Imager, select your microSD card.
 
-1. Select the gear icon to optionally customize advanced options including enabling SSH, setting a unique username and password, and configuring a wireless LAN.
+1. It's recommended to customize advanced options for the image before flashing it.
+To do it, either click on the gear icon, if visible, or press "ctrl + shift + x" keyboard shortcut ("command + shift + x" on MacOS).
+Advanced options include enabling SSH, setting a unique username and password, and configuring a wireless LAN.
 It is recommended to uncheck the "Eject media when finished" box in advanced options so you can edit the necessary files in the following steps without re-inserting the SD card.
 
-1. Once all options have been selected, click the "WRITE" button to write the image to your SD card.
+1. Once all options have been selected, click the "WRITE" (or "NEXT") button to write the image to your SD card.
 
 1. In the system-boot partition, edit config.txt and add `dtoverlay=dwc2,dr_mode=peripheral` at the end of the file.
 
diff --git a/docs/setup/ubuntu2204.md b/docs/setup/ubuntu2204.md
index e79d60d0..cfec2d93 100644
--- a/docs/setup/ubuntu2204.md
+++ b/docs/setup/ubuntu2204.md
@@ -1,8 +1,5 @@
 # Install ROS 2 Humble with Create 3 Messages on an Ubuntu 22.04 Machine
 
-!!! note
-    As of March 2023, use of Galactic is recommended, as it is more performant than Humble on Create 3.
-
 ## Before you start
 These directions should work on a machine natively running Ubuntu[^1] 22.04, as well as in a virtualized container within another operating system.
 Note that there might be some network setup required if in a virtualized container; for example, RMWs seem to like running in a bridged network configuration rather than a NATted one.