diff --git a/jenkins-scripts/tools/header_migration_script.sh b/jenkins-scripts/tools/header_migration_script.sh
new file mode 100755
index 000000000..5673eeb6e
--- /dev/null
+++ b/jenkins-scripts/tools/header_migration_script.sh
@@ -0,0 +1,507 @@
+#!/usr/bin/env bash
+# Copyright (C) 2022 Open Source Robotics Foundation
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+# DESCRIPTION
+# ===========
+# This script will migrate headers and references to those headers in the source files for:
+# - ign(ition) -> gz
+# - Ign(ition) -> Gz
+#
+# It will, for all subdirectories under `src`, `test`, `examples`, and `include`:
+# - Move the files
+# - Edit source files to update references/new paths
+# - Edit CMakeLists files to update references/new paths
+#
+# It will also leave redirection aliases for tick-tocking in the existing ign(ition) directories;
+# As well as create a top level CMakeLists file to install those redirection aliases.
+#
+# WARNING
+# =======
+# This script will NOT migrate variable and class names! It also won't migrate macro names with
+# arguments. (It'll mainly try to target header guards for macro updates.)
+#
+# PRE-REQUISITES
+# ==============
+# Requires the 'gh' CLI to be installed.
+#
+# USAGE
+# =====
+# Place the script in the root of the repo to be migrated, and run:
+# $ ./header_migration_script.sh "<library>;<library>;..." <issue_number>
+#
+# Author: methylDragon
+
+set -e
+
+# USER PARAMS ======================================================================================
+LIBRARY_INPUT=${1}
+ISSUE_NUMBER=${2}
+
+if [[ $# -lt 2 ]]; then
+  echo "./header_migration_script.sh \"<library>;<library>;...\" <issue_number>"
+  exit 1
+fi
+
+# CONSTANTS ========================================================================================
+export LICENSE="""\
+/*
+ * Copyright (C) 2022 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the \"License\");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an \"AS IS\" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+"""
+
+DEFAULT="\e[39m"
+DEFAULT_BG="\e[49m"
+
+GREY="\e[90m"
+GREEN="\e[32m"
+RED="\e[31m"
+WHITE_BG="\e[107m"
+BLUE_BG="\e[44m"
+GREEN_BG="\e[42m"
+
+GZ_ORG="gazebosim"
+TOOLING_ORG="ignition-tooling"
+
+DEFAULT_COMMIT_MSG="DEFAULT_COMMIT_MSG" # Bumps in ${COLLECTION}"
+DEFAULT_PR_TITLE="DEFAULT_PR_TITLE"
+DEFAULT_PR_TEXT="DEFAULT_PR_TEXT"
+
+TEMP_DIR="/tmp/header_migration"
+echo -e "${GREEN}Creating directory [${TEMP_DIR}]${DEFAULT}"
+mkdir -p ${TEMP_DIR}
+
+# PARAMS ===========================================================================================
+PR_TEXT="See https://github.com/${TOOLING_ORG}/release-tools/issues/${ISSUE_NUMBER}"
+PR_TITLE="ign -> gz Header Migration"
+
+# GIT ==============================================================================================
+# Clone repository into temp dir if not cloned yet and move to that folder
+# Args:
+# $1: Organization
+# $2: Repository
+cloneIfNeeded() {
+
+  cd ${TEMP_DIR}
+
+  local ORG=$1
+  local REPO=$2
+
+  if [ ! -d "$REPO" ]; then
+    echo -e "${GREEN}${REPO}: Cloning ${ORG}/${REPO}${DEFAULT}"
+    git clone https://github.com/${ORG}/${REPO}
+  else
+    echo -e "${GREEN}${REPO}: ${REPO} is already cloned${DEFAULT}"
+  fi
+
+  cd $REPO
+}
+
+
+# Return the passed branch if provided, or main / master
+getBaseBranch() {
+
+  local BASE_BRANCH=$1
+
+  # If no base branch provided, use main or master
+  if [ -z "$BASE_BRANCH" ]; then
+    HAS_MAIN=$(git ls-remote --heads origin main)
+    if [[ ! -z ${HAS_MAIN} ]]; then
+      local BASE_BRANCH="main"
+    else
+      local BASE_BRANCH="master"
+    fi
+  fi
+
+  echo "$BASE_BRANCH"
+}
+
+
+# Helper to checkout a clean branch
+# Args:
+# $1: Branch to open PR from
+# $2: Branch to build on top of
+startFromCleanBranch() {
+
+  local PR_BRANCH=$1
+  local BASE_BRANCH=$2
+  local REPO=${PWD##*/}
+
+  git fetch
+  git reset --hard
+
+  # If PR branch exists, checkout and start fresh
+
+  # Check local
+  HAS_PR_BRANCH=$(git branch --list ${PR_BRANCH})
+  if [[ ! -z ${HAS_PR_BRANCH} ]]; then
+    echo -e "${GREEN}${REPO}: Checking out branch ${PR_BRANCH}${DEFAULT}"
+    git checkout $PR_BRANCH
+    return
+  fi
+
+  # Check remote
+  HAS_PR_BRANCH=$(git ls-remote --heads origin ${PR_BRANCH})
+  if [[ ! -z ${HAS_PR_BRANCH} ]]; then
+    echo -e "${GREEN}${REPO}: Checking out branch ${PR_BRANCH}${DEFAULT}"
+    git checkout $PR_BRANCH
+    git pull
+    return
+  fi
+
+  local BASE_BRANCH=$(getBaseBranch $BASE_BRANCH)
+
+  # Make sure base branch exists
+  HAS_BASE_BRANCH=$(git ls-remote --heads origin ${BASE_BRANCH})
+  if [[ -z ${HAS_BASE_BRANCH} ]]; then
+    echo -e "${RED}${REPO}: Branch ${BASE_BRANCH} does not exist.${DEFAULT}"
+    return
+  fi
+
+  # Create PR branch off base
+  echo -e "${GREEN}${REPO}: Checking out ${BASE_BRANCH}${DEFAULT}"
+  git checkout $BASE_BRANCH
+  git pull
+  echo -e "${GREEN}${REPO}: Creating new branch ${PR_BRANCH}${DEFAULT}"
+  git checkout -b $PR_BRANCH
+}
+
+
+# Commit and open PR
+# gitCommit [-a] [-c] [-f] [-s] ORG [COMMIT_MSG]
+# Args:
+# $1: Org name
+# $2: Base branch to open PR against
+# $3: Commit message
+gitCommit() {
+  local OPTIND ADD_ALL STAGED_DIFF FORCE_COMMIT
+  while getopts acefs flag; do
+    case "${flag}" in
+      a)
+        local ADD_ALL="true" && echo -e "${GREEN}[gitCommit] Adding all unstaged files to commit!${DEFAULT}"
+        ;;
+      c|s)
+        local STAGED_DIFF="true" && echo -e "${GREEN}[gitCommit] Checking diff for staged files!${DEFAULT}"
+        ;;
+      e)
+        local AMEND="true" && echo -e "${GREEN}[gitCommit] Amending commit!${DEFAULT}"
+        ;;
+      f)
+        local FORCE_COMMIT="true" && echo -e "${GREEN}[gitCommit] Ignoring diffs!${DEFAULT}"
+        ;;
+      *)
+        echo -e "${RED}[gitCommit] Invalid flag passed! Valid: -s -c -e -a ${DEFAULT}"
+        ;;
+      esac
+  done
+  shift $((OPTIND-1))
+
+  local REPO=${PWD##*/}
+  local ORG=$1
+  local COMMIT_MSG=${2:-${DEFAULT_COMMIT_MSG}}
+
+  if [[ "${FORCE_COMMIT}" == "true" ]] ; then
+        echo -e "${GREEN}[gitCommit] Skipping diff check!${DEFAULT}"
+  else
+    if [[ "${STAGED_DIFF}" == "true" ]] ; then
+      if git diff --staged --exit-code; then
+        echo -e "${GREEN}${REPO}: Nothing to commit for ${REPO}.${DEFAULT}"
+        return
+      fi
+    else
+      if git diff --exit-code; then
+        echo -e "${GREEN}${REPO}: Nothing to commit for ${REPO}.${DEFAULT}"
+        return
+      fi
+    fi
+  fi
+
+  # Sanity check that we're on a right branch
+  local CURRENT_BRANCH=$(git rev-parse --abbrev-ref HEAD)
+  if [[ ! $CURRENT_BRANCH =~ header_migration.* ]] ; then
+    echo -e "${RED}${REPO}: Something's wrong, trying to commit to branch ${CURRENT_BRANCH}.${DEFAULT}"
+    return
+  fi
+
+  while true; do
+    if [[ "${AMEND}" == "true" ]] ; then
+      echo -e "${GREEN_BG}${REPO}: Amend latest commit on ${REPO}? (y/n)${DEFAULT_BG}"
+    else
+      echo -e "${GREEN_BG}${REPO}: Commit ${REPO}: ${COMMIT_MSG} ? (y/n)${DEFAULT_BG}"
+    fi
+
+    read CONTINUE
+
+    case $CONTINUE in
+      y) break;;
+      n) echo -e "${GREEN}Skipping commit${DEFAULT}" && break;;
+    esac
+  done
+
+  if [ "$CONTINUE" = "y" ]; then
+    if [[ "${ADD_ALL}" == "true" ]] ; then
+      git add -A
+    fi
+    if [[ "${AMEND}" == "true" ]] ; then
+      git commit --amend -C HEAD
+    else
+      git commit -sam "${COMMIT_MSG}"
+    fi
+  fi
+}
+
+
+gitPushAndPR() {
+  local REPO=${PWD##*/}
+  local ORG=$1
+  local BASE_BRANCH=$2
+  local PR_TITLE=${3:-${DEFAULT_PR_TITLE}}
+  local PR_TEXT=${4:-${DEFAULT_PR_TEXT}}
+
+  # Sanity check that we're on a right branch
+  local CURRENT_BRANCH=$(git rev-parse --abbrev-ref HEAD)
+  if [[ ! $CURRENT_BRANCH =~ header_migration.* ]] ; then
+    echo -e "${RED}${REPO}: Something's wrong, trying to commit to branch ${CURRENT_BRANCH}.${DEFAULT}"
+    return
+  fi
+
+  echo -e "${GREEN_BG}${REPO}: Push to ${REPO} (${CURRENT_BRANCH}) and PR branch: ${CURRENT_BRANCH} -> ${BASE_BRANCH}? (y/n)${DEFAULT_BG}"
+  read CONTINUE
+  if [ "$CONTINUE" = "y" ]; then
+    git push origin ${CURRENT_BRANCH}
+    gh pr create --title "${PR_TITLE}" --body "${PR_TEXT}" --repo ${ORG}/${REPO} --base ${BASE_BRANCH}
+  fi
+}
+
+
+# METHODS AND CONSTANTS ============================================================================
+reviewConfirm() {
+  while true; do
+    local MSG=${1:-"Have you reviewed the changes above, and are you ready to commit? (y?)"}
+    echo -e "${GREEN_BG}${MSG}${DEFAULT_BG}"
+    read CONTINUE
+
+    case $CONTINUE in
+      y) break;;
+    esac
+  done
+
+  if [ "$CONTINUE" = "y" ]; then
+    return
+  fi
+}
+
+mvHeaders() {
+  # Create necessary directories
+  dirname $1 | sed ':loop s@include\(.*\)*/\([^/]*_\)\?ign\(ition\)\?@include\1/\2gz@g; t loop' | xargs -I {} mkdir -pv {}
+
+  # Move anything in an include/.../ignition or include/ignition subdirectory
+  # Also handles:
+  #   IgnitionXXX -> GzXXX
+  #   IgnXXX -> GzXXX
+  if [[ $1 =~ include(.*)*/([^/]*_)?ign(ition)? ]] || [[ $1 =~ include(.*)*/Ign(ition)?[A-Z] ]] ; then
+    echo $1 | sed \
+      -e ':loop s@include\(.*\)*/\([^/]*_\)\?ign\(ition\)\?@include\1/\2gz@g; t loop' \
+      -e 's@include\(.*\)*/Ign\(ition\)\?\([A-Z]\)@include\1/Gz\3@g' \
+       | xargs -I {} bash -c "git mv -f $1 {} && cp {} $1 && echo '[MOVED WITH RESIDUAL] $1 --> {}'" _
+  fi
+
+  # Leave redirection aliases
+  #   Converting *.in into normal versions (spoofing configuration of *.in files)
+  if [[ $1 =~ [Ii]gn(ition)?(.*)?/detail/.* ]] ; then
+    echo "[REMOVING] $1"
+    rm $1
+  elif [[ $1 =~ [Ii]gn(ition)?.*\.in ]] ; then
+    echo "[CONVERTING] $1"
+    echo $1 | sed 's@\(.*\)\.in@\1@g' | xargs -I {} mv $1 {}
+  fi
+
+  # echo $1 | sed 's@\(.*\)\.in@\1@g' | xargs -I {} touch {}
+} ; export -f mvHeaders
+
+
+migrateSources() {  # Different variations of ignition/ign -> gz in source files
+  # NOTE(CH3): DOES NOT MIGRATE CLASS OR VARIABLE NAMES
+
+  if [[ $1 =~ \.c[^\.]*$|\.in[^\.]*$|\.h[^\.]*$ ]] ; then # Only do for source files
+    echo "[MIGRATING SOURCES] $1"
+    if [[ $1 != *.in ]] ; then                  # !! But not macros for .in files
+      # Only migrate non-macro definition calls (loop to make it recursive)
+      #   \([^(]*\)\ to ignore any macros with arguments (to target header guards only)
+      #   _H to target (mostly) header guards (might miss improperly defined header guards)
+      sed -i ':loop s@\(#.*\)\([ _]\)IGN\(ITION\)\?\(.*\)_H\([^(]*\)$@\1\2GZ\4_H\5@g; t loop' $1  # e.g. IGNITION_UTILS__XXX -> GZ_UTILS__XXX
+    fi
+
+    # NOTE(CH3): We're not migrating class or variable names for now
+    # sed -i 's@Ignition\([A-Z]\)@Gz\1@g' $1 # e.g. IgnitionFormatter -> GzFormatter
+
+    sed -i 's@ign\(ition\)\?/@gz/@g' $1  # e.g. include <ignition/utils/XXX> -> include <gz/utils/XXX>
+
+    # NOTE(CH3): Deliberate non-permissive match here
+    sed -i 's@ignition_@gz_@g' $1  # e.g. ignition_xxx -> gz_xxx
+
+    # NOTE(CH3): The other one was too greedy (sign_bit -> sgz_bit)
+    # sed -i 's@ign_@gz_@g' $1       # e.g. ign_xxx -> gz_xxx
+    sed -i 's@\([{(_<"]\)ign\(ition\)\?_@\1gz_@g' $1             # e.g. ${ign_utils} -> ${gz_utils}
+
+    # Rollback edge cases
+    sed -i 's@${gz_headers}@${ign_headers}@g' $1
+  fi
+} ; export -f migrateSources
+
+
+migrateCmake() {  # Different variations of ignition/ign -> gz in CMake files
+  # This is special because we need to specifically avoid unmigrated ign-cmake macro calls
+
+  if [[ $1 =~ CMakeLists.txt ]] ; then # Only do for CMakeLists files
+    echo "[MIGRATING CMAKE] $1"
+
+    sed -i 's@(ign\(ition\)\?@(gz@g' $1   # e.g. add_subdirectory(ignition) -> add_subdirectory(gz)
+
+    sed -i 's@Ign\(ition\)\?\([A-Z]\)@Gz\2@g' $1  # e.g. IgnitionFormatter -> GzFormatter
+    sed -i ':loop s@(\(\(.*_\)*\)ign\(ition\)\?@(\1gz@g; t loop' $1   # e.g. add_subdirectory(ignition) -> add_subdirectory(gz)
+
+    # NOTE(CH3):
+    # ^\([^ign ]\+\) ignores lines that start with ign(nition)_
+    # Which should avoid changing most ign-cmake macro calls
+    sed -i 's@\b\([^ign ]\+\)ign\(ition\)\?/@\1gz/@g' $1  # e.g. include <ignition/utils/XXX> -> include <gz/utils/XXX>
+    sed -i 's@\b\([^ign ]\+\)ign\(ition\)\?_@\1gz_@g' $1  # e.g. ignition_xxx -> gz_xxx
+
+    # /^#/! ignores lines starting with # (ignore comments)
+    sed -i '/^#/! s@\(\w\) ign\(ition\)\?_@\1 gz_@g' $1              # e.g. XXX ign_xxx -> XXX gz_xxx
+
+    # Catchall for open-parentheses/quotes
+    sed -i 's@\([{(_<"]\)ign\(ition\)\?_@\1gz_@g' $1             # e.g. ${ign_utils} -> ${gz_utils}
+
+    # Rollback edge cases
+    # TODO(CH3): This becomes a helper once our project names are actually migrated
+    #            We can remove the rollbacks then!
+    sed -i 's@project(gz@project(ignition@g' $1
+    sed -i 's@find_package(gz@find_package(ignition@g' $1
+    sed -i 's@find_package(Gz@find_package(Ign@g' $1
+    sed -i 's@IGN_\([^_]*\)_VER ${gz@IGN_\1_VER ${ignition@g' $1
+    sed -i 's@-Dgz@-Dignition@g' $1
+  fi
+} ; export -f migrateCmake
+
+
+populateRedirectionAlias() {
+  echo "[REDIRECTING] $1"
+  echo "$LICENSE" > $1
+  echo "#include <$(echo $1 | sed \
+    -e 's@.*/include/@@g' \
+    -e 's@ignition/@gz/@g' \
+    -e 's@Ign\(ition\)\?@Gz@g')>" >> $1
+} ; export -f populateRedirectionAlias
+
+# MAIN =============================================================================================
+IFS=';'
+read -a LIBRARIES <<< "${LIBRARY_INPUT}"
+
+for ((i = 0; i < "${#LIBRARIES[@]}"; i++)); do
+  LIB=${LIBRARIES[$i]}
+
+  cloneIfNeeded ${GZ_ORG} ${LIB}
+  startFromCleanBranch header_migration main
+
+  echo -e "${GREEN}\n[STARTING MIGRATION] ${LIB}${DEFAULT}"
+  reviewConfirm "Read(y?)"
+
+  # Move headers
+  find . -regex '.*include\(.*\)*' -type f -print0 | xargs -0 -I {} bash -c 'mvHeaders {}' _
+
+  # Cleanup dangling files
+  find . -regex ".*/include.*/ignition.*/CMakeLists\.txt" -type f -print0 | xargs -0 -I {} rm {}  # Remove dangling .in config files
+  find . -regex ".*/include.*/ignition.*/.*\.in" -type f -print0 | xargs -0 -I {} rm {}  # Remove dangling ignition CMakeLists
+
+  reviewConfirm
+  gitCommit -s ${GZ_ORG} "Move header files with git mv"  # Commits staged git mv changes
+  echo -e "\n== Copying Redirection Aliases ==\n"
+  gitCommit -f -a ${GZ_ORG} "Create redirection aliases"  # Adds and commits unstaged redirections
+
+  # Create Export.hh and <lib>.hh
+  find . -regex './include.*/ignition/[^/]*' -type d -print0 \
+    | xargs -0 -I {} bash -c 'touch "{}/Export.hh" \
+                              && echo "[CREATED] {}/Export.hh"' _
+  find . -regex './include.*/ignition/[^/]*' -type d -print0 \
+    | xargs -0 -I {} bash -c 'touch "$(sed "s@\(.*\)/\(.*\)\$@\1/\2.hh@g" <<< {})" \
+                              && echo "[CREATED] $(sed "s@\(.*\)/\(.*\)\$@\1/\2.hh@g" <<< {})"'
+
+  # Provision redirection aliases
+  find . -regex '.*include.*/ignition.*\.h.*\|.*include\(.*\)*/Ign\(ition\)?[A-Z].*\.h.*' -type f -print0 \
+    | xargs -0 -I {} bash -c 'populateRedirectionAlias {}' _
+
+  # Do some absolutely ridiculous awk sourcery to remove most instances of copyright edits
+  GIT_DIFF="$(git diff)"
+  PATCHED_GIT_DIFF=$(awk '{
+    if(/^-.*Open Source Robotics Foundation/){
+      prev=$0;
+      getline;
+
+      if(/^\+.*Open Source Robotics Foundation/){
+        print prev; sub(/^-/, "+", prev); print prev;
+      } else {
+        print prev "\n" $0;
+      }
+    }
+    else{print;}
+  }' <<< "${GIT_DIFF}")
+
+  git restore .
+  git apply <<< "${PATCHED_GIT_DIFF}"
+
+  reviewConfirm
+  gitCommit -f -a -e ${GZ_ORG}
+
+  # Migrate Gz sources
+  find . -regex '.*/\[src\|test\|examples\]/.*\|.*include\(.*\)*/\([^/]*_\)?[gz|Gz].*' -type f -print0 | xargs -0 -I {} bash -c 'migrateSources {}' _
+
+  # More permissive migration for Gz examples
+  find . -regex '.*/examples/.*\|.*include\(.*\)*/.*' -type f -print0 | xargs -0 -I {} bash -c 'migrateSources {}' _
+
+  reviewConfirm
+  gitCommit ${GZ_ORG} "Migrate sources in src, test, examples, and include"
+
+  # Migrate Gz CMake files
+  find . -regex '.*[include\|src\|test\|examples].*/CMakeLists\.txt' -type f -print0 | xargs -0 -I {} bash -c 'migrateCmake {}' _
+
+  # Add header level CMakeLists.txt
+  touch ./include/CMakeLists.txt
+  echo "add_subdirectory(gz)" > ./include/CMakeLists.txt
+  echo "install(DIRECTORY ignition DESTINATION \${IGN_INCLUDE_INSTALL_DIR_FULL})" >> ./include/CMakeLists.txt
+
+  # Edit top level CMakeLists
+  OFS=$IFS; IFS=" "
+  LIB_NAME_ARR=(${LIB/-/ })
+  echo "CREATING TOP LEVEL CMAKELISTS FOR $LIB: ${LIB_NAME_ARR[1]}"
+  sed -i "s@ign_configure_project(\(.*\))@ign_configure_project(\n  REPLACE_IGNITION_INCLUDE_PATH gz/${LIB_NAME_ARR[1]}\n  \1)@g" CMakeLists.txt
+  IFS=$OFS
+
+  reviewConfirm
+  gitCommit -a ${GZ_ORG} "Migrate CMake files"
+  gitPushAndPR ${GZ_ORG} main "${PR_TITLE} : ${LIB}" ${PR_TEXT}
+done