Download these
- https://github.com/mjansen4857/pathplanner/releases
- https://github.com/SleipnirGroup/Choreo/releases
- https://github.com/Mechanical-Advantage/AdvantageScope/releases/
If any of these installations have the 'this application cannot be verified' error: 1) Open settings, 2) Navigate to security, 3) Scroll until you find the recently opened application and click 'open anyway'