diff --git a/packages/go_router_builder/CHANGELOG.md b/packages/go_router_builder/CHANGELOG.md
index b9ef60077e89..e58e89af124d 100644
--- a/packages/go_router_builder/CHANGELOG.md
+++ b/packages/go_router_builder/CHANGELOG.md
@@ -1,5 +1,6 @@
-## NEXT
+## 3.0.2
 
+- Adds support for `TypedRelativeGoRoute`.
 - Restricts `build` to versions less than 2.5.0.
 
 ## 3.0.1
diff --git a/packages/go_router_builder/example/lib/go_relative.dart b/packages/go_router_builder/example/lib/go_relative.dart
new file mode 100644
index 000000000000..06a0a7585396
--- /dev/null
+++ b/packages/go_router_builder/example/lib/go_relative.dart
@@ -0,0 +1,198 @@
+// Copyright 2013 The Flutter Authors. All rights reserved.
+// Use of this source code is governed by a BSD-style license that can be
+// found in the LICENSE file.
+
+// ignore_for_file: public_member_api_docs, unreachable_from_main
+
+import 'package:flutter/material.dart';
+import 'package:go_router/go_router.dart';
+
+part 'go_relative.g.dart';
+
+void main() => runApp(const MyApp());
+
+/// The main app.
+class MyApp extends StatelessWidget {
+  /// Constructs a [MyApp]
+  const MyApp({super.key});
+
+  @override
+  Widget build(BuildContext context) {
+    return MaterialApp.router(
+      routerConfig: _router,
+    );
+  }
+}
+
+/// The route configuration.
+final GoRouter _router = GoRouter(
+  routes: $appRoutes,
+);
+const TypedRelativeGoRoute<DetailsRoute> detailRoute =
+    TypedRelativeGoRoute<DetailsRoute>(
+  path: 'details/:detailId',
+  routes: <TypedRoute<RouteData>>[
+    TypedRelativeGoRoute<SettingsRoute>(path: 'settings/:settingId'),
+  ],
+);
+
+@TypedGoRoute<HomeRoute>(
+  path: '/',
+  routes: <TypedRoute<RouteData>>[
+    TypedGoRoute<DashboardRoute>(
+      path: '/dashboard',
+      routes: <TypedRoute<RouteData>>[detailRoute],
+    ),
+    detailRoute,
+  ],
+)
+class HomeRoute extends GoRouteData with _$HomeRoute {
+  @override
+  Widget build(BuildContext context, GoRouterState state) {
+    return const HomeScreen();
+  }
+}
+
+class DashboardRoute extends GoRouteData with _$DashboardRoute {
+  @override
+  Widget build(BuildContext context, GoRouterState state) {
+    return const DashboardScreen();
+  }
+}
+
+class DetailsRoute extends RelativeGoRouteData with _$DetailsRoute {
+  const DetailsRoute({required this.detailId});
+  final String detailId;
+
+  @override
+  Widget build(BuildContext context, GoRouterState state) {
+    return DetailsScreen(id: detailId);
+  }
+}
+
+class SettingsRoute extends RelativeGoRouteData with _$SettingsRoute {
+  const SettingsRoute({
+    required this.settingId,
+  });
+  final String settingId;
+
+  @override
+  Widget build(BuildContext context, GoRouterState state) {
+    return SettingsScreen(id: settingId);
+  }
+}
+
+/// The home screen
+class HomeScreen extends StatelessWidget {
+  /// Constructs a [HomeScreen]
+  const HomeScreen({super.key});
+
+  @override
+  Widget build(BuildContext context) {
+    return Scaffold(
+      appBar: AppBar(title: const Text('Home Screen')),
+      body: Column(
+        mainAxisAlignment: MainAxisAlignment.center,
+        children: <Widget>[
+          ElevatedButton(
+            onPressed: () {
+              const DetailsRoute(detailId: 'DetailsId').goRelative(context);
+            },
+            child: const Text('Go to the Details screen'),
+          ),
+          ElevatedButton(
+            onPressed: () {
+              DashboardRoute().go(context);
+            },
+            child: const Text('Go to the Dashboard screen'),
+          ),
+        ],
+      ),
+    );
+  }
+}
+
+/// The home screen
+class DashboardScreen extends StatelessWidget {
+  /// Constructs a [DashboardScreen]
+  const DashboardScreen({super.key});
+
+  @override
+  Widget build(BuildContext context) {
+    return Scaffold(
+      appBar: AppBar(title: const Text('Dashboard Screen')),
+      body: Column(
+        children: <Widget>[
+          ElevatedButton(
+            onPressed: () {
+              const DetailsRoute(detailId: 'DetailsId').goRelative(context);
+            },
+            child: const Text('Go to the Details screen'),
+          ),
+          ElevatedButton(
+            onPressed: () => context.pop(),
+            child: const Text('Go back'),
+          ),
+        ],
+      ),
+    );
+  }
+}
+
+/// The details screen
+class DetailsScreen extends StatelessWidget {
+  /// Constructs a [DetailsScreen]
+  const DetailsScreen({
+    super.key,
+    required this.id,
+  });
+
+  final String id;
+
+  @override
+  Widget build(BuildContext context) {
+    return Scaffold(
+      appBar: AppBar(title: Text('Details Screen $id')),
+      body: Center(
+        child: Column(
+          children: <Widget>[
+            ElevatedButton(
+              onPressed: () => context.pop(),
+              child: const Text('Go back'),
+            ),
+            ElevatedButton(
+              onPressed: () => const SettingsRoute(
+                settingId: 'SettingsId',
+              ).goRelative(context),
+              child: const Text('Go to the Settings screen'),
+            ),
+          ],
+        ),
+      ),
+    );
+  }
+}
+
+/// The details screen
+class SettingsScreen extends StatelessWidget {
+  /// Constructs a [SettingsScreen]
+  const SettingsScreen({
+    super.key,
+    required this.id,
+  });
+
+  final String id;
+
+  @override
+  Widget build(BuildContext context) {
+    return Scaffold(
+      appBar: AppBar(title: Text('Settings Screen $id')),
+      body: Center(
+        child: TextButton(
+          onPressed: () => context.pop(),
+          child: const Text('Go back'),
+        ),
+      ),
+    );
+  }
+}
diff --git a/packages/go_router_builder/example/lib/go_relative.g.dart b/packages/go_router_builder/example/lib/go_relative.g.dart
new file mode 100644
index 000000000000..eb02878aac23
--- /dev/null
+++ b/packages/go_router_builder/example/lib/go_relative.g.dart
@@ -0,0 +1,152 @@
+// GENERATED CODE - DO NOT MODIFY BY HAND
+
+// ignore_for_file: always_specify_types, public_member_api_docs
+
+part of 'go_relative.dart';
+
+// **************************************************************************
+// GoRouterGenerator
+// **************************************************************************
+
+List<RouteBase> get $appRoutes => [
+      $homeRoute,
+    ];
+
+RouteBase get $homeRoute => GoRouteData.$route(
+      path: '/',
+      factory: _$HomeRoute._fromState,
+      routes: [
+        GoRouteData.$route(
+          path: '/dashboard',
+          factory: _$DashboardRoute._fromState,
+          routes: [
+            RelativeGoRouteData.$route(
+              path: 'details/:detailId',
+              factory: _$DetailsRoute._fromState,
+              routes: [
+                RelativeGoRouteData.$route(
+                  path: 'settings/:settingId',
+                  factory: _$SettingsRoute._fromState,
+                ),
+              ],
+            ),
+          ],
+        ),
+        RelativeGoRouteData.$route(
+          path: 'details/:detailId',
+          factory: _$DetailsRoute._fromState,
+          routes: [
+            RelativeGoRouteData.$route(
+              path: 'settings/:settingId',
+              factory: _$SettingsRoute._fromState,
+            ),
+          ],
+        ),
+      ],
+    );
+
+mixin _$HomeRoute on GoRouteData {
+  static HomeRoute _fromState(GoRouterState state) => HomeRoute();
+
+  @override
+  String get location => GoRouteData.$location(
+        '/',
+      );
+
+  @override
+  void go(BuildContext context) => context.go(location);
+
+  @override
+  Future<T?> push<T>(BuildContext context) => context.push<T>(location);
+
+  @override
+  void pushReplacement(BuildContext context) =>
+      context.pushReplacement(location);
+
+  @override
+  void replace(BuildContext context) => context.replace(location);
+}
+
+mixin _$DashboardRoute on GoRouteData {
+  static DashboardRoute _fromState(GoRouterState state) => DashboardRoute();
+
+  @override
+  String get location => GoRouteData.$location(
+        '/dashboard',
+      );
+
+  @override
+  void go(BuildContext context) => context.go(location);
+
+  @override
+  Future<T?> push<T>(BuildContext context) => context.push<T>(location);
+
+  @override
+  void pushReplacement(BuildContext context) =>
+      context.pushReplacement(location);
+
+  @override
+  void replace(BuildContext context) => context.replace(location);
+}
+
+mixin _$DetailsRoute on RelativeGoRouteData {
+  static DetailsRoute _fromState(GoRouterState state) => DetailsRoute(
+        detailId: state.pathParameters['detailId']!,
+      );
+
+  DetailsRoute get _self => this as DetailsRoute;
+
+  @override
+  String get location => RelativeGoRouteData.$location(
+        'details/${Uri.encodeComponent(_self.detailId)}',
+      );
+
+  @override
+  String get relativeLocation => './$location';
+
+  @override
+  void goRelative(BuildContext context) => context.go(relativeLocation);
+
+  @override
+  Future<T?> pushRelative<T>(BuildContext context) =>
+      context.push<T>(relativeLocation);
+
+  @override
+  void pushReplacementRelative(BuildContext context) =>
+      context.pushReplacement(relativeLocation);
+
+  @override
+  void replaceRelative(BuildContext context) =>
+      context.replace(relativeLocation);
+}
+
+mixin _$SettingsRoute on RelativeGoRouteData {
+  static SettingsRoute _fromState(GoRouterState state) => SettingsRoute(
+        settingId: state.pathParameters['settingId']!,
+      );
+
+  SettingsRoute get _self => this as SettingsRoute;
+
+  @override
+  String get location => RelativeGoRouteData.$location(
+        'settings/${Uri.encodeComponent(_self.settingId)}',
+      );
+
+  @override
+  String get relativeLocation => './$location';
+
+  @override
+  void goRelative(BuildContext context) => context.go(relativeLocation);
+
+  @override
+  Future<T?> pushRelative<T>(BuildContext context) =>
+      context.push<T>(relativeLocation);
+
+  @override
+  void pushReplacementRelative(BuildContext context) =>
+      context.pushReplacement(relativeLocation);
+
+  @override
+  void replaceRelative(BuildContext context) =>
+      context.replace(relativeLocation);
+}
diff --git a/packages/go_router_builder/example/pubspec.yaml b/packages/go_router_builder/example/pubspec.yaml
index 93e165668d03..63f475d08908 100644
--- a/packages/go_router_builder/example/pubspec.yaml
+++ b/packages/go_router_builder/example/pubspec.yaml
@@ -9,7 +9,7 @@ dependencies:
   collection: ^1.15.0
   flutter:
     sdk: flutter
-  go_router: ^16.0.0
+  go_router: ^16.1.1
   provider: 6.0.5
 
 dev_dependencies:
diff --git a/packages/go_router_builder/example/test/go_relative_test.dart b/packages/go_router_builder/example/test/go_relative_test.dart
new file mode 100644
index 000000000000..3efd323e8c23
--- /dev/null
+++ b/packages/go_router_builder/example/test/go_relative_test.dart
@@ -0,0 +1,55 @@
+// Copyright 2013 The Flutter Authors. All rights reserved.
+// Use of this source code is governed by a BSD-style license that can be
+// found in the LICENSE file.
+
+import 'package:flutter_test/flutter_test.dart';
+import 'package:go_router_builder_example/go_relative.dart' as example;
+
+void main() {
+  testWidgets('example works', (WidgetTester tester) async {
+    await tester.pumpWidget(const example.MyApp());
+    expect(find.byType(example.HomeScreen), findsOneWidget);
+
+    // From Home screen, go to Details screen
+    await tester.tap(find.text('Go to the Details screen'));
+    await tester.pumpAndSettle();
+    expect(find.byType(example.DetailsScreen), findsOneWidget);
+
+    await tester.tap(find.text('Go to the Settings screen'));
+    await tester.pumpAndSettle();
+    expect(find.byType(example.SettingsScreen), findsOneWidget);
+
+    await tester.tap(find.text('Go back'));
+    await tester.pumpAndSettle();
+    expect(find.byType(example.DetailsScreen), findsOneWidget);
+
+    await tester.tap(find.text('Go back'));
+    await tester.pumpAndSettle();
+    expect(find.byType(example.HomeScreen), findsOneWidget);
+
+    await tester.tap(find.text('Go to the Dashboard screen'));
+    await tester.pumpAndSettle();
+    expect(find.byType(example.DashboardScreen), findsOneWidget);
+
+    // From Dashboard screen, go to Details screen
+    await tester.tap(find.text('Go to the Details screen'));
+    await tester.pumpAndSettle();
+    expect(find.byType(example.DetailsScreen), findsOneWidget);
+
+    await tester.tap(find.text('Go to the Settings screen'));
+    await tester.pumpAndSettle();
+    expect(find.byType(example.SettingsScreen), findsOneWidget);
+
+    await tester.tap(find.text('Go back'));
+    await tester.pumpAndSettle();
+    expect(find.byType(example.DetailsScreen), findsOneWidget);
+
+    await tester.tap(find.text('Go back'));
+    await tester.pumpAndSettle();
+    expect(find.byType(example.DashboardScreen), findsOneWidget);
+
+    await tester.tap(find.text('Go back'));
+    await tester.pumpAndSettle();
+    expect(find.byType(example.HomeScreen), findsOneWidget);
+  });
+}
diff --git a/packages/go_router_builder/lib/src/go_router_generator.dart b/packages/go_router_builder/lib/src/go_router_generator.dart
index 88803b29e5cc..8b97374f62b4 100644
--- a/packages/go_router_builder/lib/src/go_router_generator.dart
+++ b/packages/go_router_builder/lib/src/go_router_generator.dart
@@ -16,6 +16,7 @@ const String _routeDataUrl = 'package:go_router/src/route_data.dart';
 
 const Map<String, String> _annotations = <String, String>{
   'TypedGoRoute': 'GoRouteData',
+  'TypedRelativeGoRoute': 'RelativeGoRouteData',
   'TypedShellRoute': 'ShellRouteData',
   'TypedStatefulShellBranch': 'StatefulShellBranchData',
   'TypedStatefulShellRoute': 'StatefulShellRouteData',
diff --git a/packages/go_router_builder/lib/src/route_config.dart b/packages/go_router_builder/lib/src/route_config.dart
index d95663d15acc..375a54608080 100644
--- a/packages/go_router_builder/lib/src/route_config.dart
+++ b/packages/go_router_builder/lib/src/route_config.dart
@@ -189,45 +189,12 @@ class StatefulShellBranchConfig extends RouteBaseConfig {
   String get dataConvertionFunctionName => r'$branch';
 }
 
-/// The configuration to generate class declarations for a GoRouteData.
-class GoRouteConfig extends RouteBaseConfig {
-  GoRouteConfig._({
-    required this.path,
-    required this.name,
-    required this.caseSensitive,
-    required this.parentNavigatorKey,
-    required super.routeDataClass,
-    required super.parent,
-  }) : super._();
-
-  /// The path of the GoRoute to be created by this configuration.
-  final String path;
-
-  /// The name of the GoRoute to be created by this configuration.
-  final String? name;
-
-  /// The case sensitivity of the GoRoute to be created by this configuration.
-  final bool caseSensitive;
-
-  /// The parent navigator key.
-  final String? parentNavigatorKey;
+/// A mixin that provides common functionality for GoRoute-based configurations.
+mixin _GoRouteMixin on RouteBaseConfig {
+  String get _basePathForLocation;
 
   late final Set<String> _pathParams =
-      pathParametersFromPattern(_rawJoinedPath);
-
-  String get _rawJoinedPath {
-    final List<String> pathSegments = <String>[];
-
-    RouteBaseConfig? config = this;
-    while (config != null) {
-      if (config is GoRouteConfig) {
-        pathSegments.add(config.path);
-      }
-      config = config.parent;
-    }
-
-    return p.url.joinAll(pathSegments.reversed);
-  }
+      pathParametersFromPattern(_basePathForLocation);
 
   // construct path bits using parent bits
   // if there are any queryParam objects, add in the `queryParam` bits
@@ -254,10 +221,13 @@ class GoRouteConfig extends RouteBaseConfig {
         return MapEntry<String, String>(pathParameter, valueBuffer.toString());
       }),
     );
-    final String location = patternToPath(_rawJoinedPath, pathParameters);
+    final String location = patternToPath(_basePathForLocation, pathParameters);
     return "'$location'";
   }
 
+  /// The definition of the mixin to be generated.
+  String get _mixinDefinition;
+
   ParameterElement? get _extraParam => _ctor.parameters
       .singleWhereOrNull((ParameterElement element) => element.isExtraField);
 
@@ -398,6 +368,79 @@ class GoRouteConfig extends RouteBaseConfig {
         ..._enumDeclarations(),
       ];
 
+  /// Returns code representing the constant maps that contain the `enum` to
+  /// [String] mapping for each referenced enum.
+  Iterable<String> _enumDeclarations() {
+    final Set<InterfaceType> enumParamTypes = <InterfaceType>{};
+
+    for (final ParameterElement ctorParam in <ParameterElement>[
+      ..._ctorParams,
+      ..._ctorQueryParams,
+    ]) {
+      DartType potentialEnumType = ctorParam.type;
+      if (potentialEnumType is ParameterizedType &&
+          (ctorParam.type as ParameterizedType).typeArguments.isNotEmpty) {
+        potentialEnumType =
+            (ctorParam.type as ParameterizedType).typeArguments.first;
+      }
+
+      if (potentialEnumType.isEnum) {
+        enumParamTypes.add(potentialEnumType as InterfaceType);
+      }
+    }
+    return enumParamTypes.map<String>(_enumMapConst);
+  }
+
+  @override
+  String get factorConstructorParameters => 'factory: $_mixinName._fromState,';
+
+  @override
+  String get dataConvertionFunctionName => r'$route';
+}
+
+/// The configuration to generate class declarations for a GoRouteData.
+class GoRouteConfig extends RouteBaseConfig with _GoRouteMixin {
+  GoRouteConfig._({
+    required this.path,
+    required this.name,
+    required this.caseSensitive,
+    required this.parentNavigatorKey,
+    required super.routeDataClass,
+    required super.parent,
+  }) : super._();
+
+  /// The path of the GoRoute to be created by this configuration.
+  final String path;
+
+  /// The name of the GoRoute to be created by this configuration.
+  final String? name;
+
+  /// The case sensitivity of the GoRoute to be created by this configuration.
+  final bool caseSensitive;
+
+  /// The parent navigator key.
+  final String? parentNavigatorKey;
+
+  String get _rawJoinedPath {
+    final List<String> pathSegments = <String>[];
+
+    RouteBaseConfig? config = this;
+    while (config != null) {
+      if (config
+          case GoRouteConfig(:final String path) ||
+              RelativeGoRouteConfig(:final String path)) {
+        pathSegments.add(path);
+      }
+      config = config.parent;
+    }
+
+    return p.url.joinAll(pathSegments.reversed);
+  }
+
+  @override
+  String get _basePathForLocation => _rawJoinedPath;
+
+  @override
   String get _mixinDefinition {
     final bool hasMixin = getNodeDeclaration<ClassDeclaration>(routeDataClass)
             ?.withClause
@@ -438,45 +481,93 @@ mixin $_mixinName on GoRouteData {
 ''';
   }
 
-  /// Returns code representing the constant maps that contain the `enum` to
-  /// [String] mapping for each referenced enum.
-  Iterable<String> _enumDeclarations() {
-    final Set<InterfaceType> enumParamTypes = <InterfaceType>{};
+  @override
+  String get routeConstructorParameters => '''
+    path: ${escapeDartString(path)},
+    ${name != null ? 'name: ${escapeDartString(name!)},' : ''}
+    ${caseSensitive ? '' : 'caseSensitive: $caseSensitive,'}
+    ${parentNavigatorKey == null ? '' : 'parentNavigatorKey: $parentNavigatorKey,'}
+''';
 
-    for (final ParameterElement ctorParam in <ParameterElement>[
-      ..._ctorParams,
-      ..._ctorQueryParams,
-    ]) {
-      DartType potentialEnumType = ctorParam.type;
-      if (potentialEnumType is ParameterizedType &&
-          (ctorParam.type as ParameterizedType).typeArguments.isNotEmpty) {
-        potentialEnumType =
-            (ctorParam.type as ParameterizedType).typeArguments.first;
-      }
+  @override
+  String get routeDataClassName => 'GoRouteData';
+}
 
-      if (potentialEnumType.isEnum) {
-        enumParamTypes.add(potentialEnumType as InterfaceType);
-      }
+/// The configuration to generate class declarations for a RelativeGoRouteConfig.
+class RelativeGoRouteConfig extends RouteBaseConfig with _GoRouteMixin {
+  RelativeGoRouteConfig._({
+    required this.path,
+    required this.caseSensitive,
+    required this.parentNavigatorKey,
+    required super.routeDataClass,
+    required super.parent,
+  }) : super._();
+
+  /// The path of the GoRoute to be created by this configuration.
+  final String path;
+
+  /// The case sensitivity of the GoRoute to be created by this configuration.
+  final bool caseSensitive;
+
+  /// The parent navigator key.
+  final String? parentNavigatorKey;
+
+  @override
+  String get _basePathForLocation => path;
+
+  @override
+  String get _mixinDefinition {
+    final bool hasMixin = getNodeDeclaration<ClassDeclaration>(routeDataClass)
+            ?.withClause
+            ?.mixinTypes
+            .any((NamedType e) => e.name2.toString() == _mixinName) ??
+        false;
+
+    if (!hasMixin) {
+      throw InvalidGenerationSourceError(
+        'Missing mixin clause `with $_mixinName`',
+        element: routeDataClass,
+      );
     }
-    return enumParamTypes.map<String>(_enumMapConst);
-  }
 
+    return '''
+mixin $_mixinName on RelativeGoRouteData {
+  static $_className _fromState(GoRouterState state) $_fromStateConstructor
+  $_castedSelf
   @override
-  String get factorConstructorParameters => 'factory: $_mixinName._fromState,';
+  String get location => RelativeGoRouteData.\$location($_locationArgs,$_locationQueryParams);
+  
+  @override
+  String get relativeLocation => './\$location';
+
+  @override
+  void goRelative(BuildContext context) =>
+      context.go(relativeLocation${_extraParam != null ? ', extra: $selfFieldName.$extraFieldName' : ''});
+
+  @override
+  Future<T?> pushRelative<T>(BuildContext context) =>
+      context.push<T>(relativeLocation${_extraParam != null ? ', extra: $selfFieldName.$extraFieldName' : ''});
+  
+  @override
+  void pushReplacementRelative(BuildContext context) =>
+      context.pushReplacement(relativeLocation${_extraParam != null ? ', extra: $selfFieldName.$extraFieldName' : ''});
+  
+  @override
+  void replaceRelative(BuildContext context) =>
+      context.replace(relativeLocation${_extraParam != null ? ', extra: $selfFieldName.$extraFieldName' : ''});
+}
+''';
+  }
 
   @override
   String get routeConstructorParameters => '''
     path: ${escapeDartString(path)},
-    ${name != null ? 'name: ${escapeDartString(name!)},' : ''}
     ${caseSensitive ? '' : 'caseSensitive: $caseSensitive,'}
     ${parentNavigatorKey == null ? '' : 'parentNavigatorKey: $parentNavigatorKey,'}
 ''';
 
   @override
-  String get routeDataClassName => 'GoRouteData';
-
-  @override
-  String get dataConvertionFunctionName => r'$route';
+  String get routeDataClassName => 'RelativeGoRouteData';
 }
 
 /// Represents a `TypedGoRoute` annotation to the builder.
@@ -513,6 +604,14 @@ abstract class RouteBaseConfig {
     assert(!reader.isNull, 'reader should not be null');
     final InterfaceType type = reader.objectValue.type! as InterfaceType;
     final String typeName = type.element.name;
+
+    if (parent is RelativeGoRouteConfig && typeName == 'TypedGoRoute') {
+      throw InvalidGenerationSourceError(
+        'TypedRelativeGoRoute cannot have a TypedGoRoute as a child.',
+        element: element,
+      );
+    }
+
     final DartType typeParamType = type.typeArguments.single;
     if (typeParamType is! InterfaceType) {
       throw InvalidGenerationSourceError(
@@ -611,6 +710,25 @@ abstract class RouteBaseConfig {
             parameterName: r'$parentNavigatorKey',
           ),
         );
+      case 'TypedRelativeGoRoute':
+        final ConstantReader pathValue = reader.read('path');
+        if (pathValue.isNull) {
+          throw InvalidGenerationSourceError(
+            'Missing `path` value on annotation.',
+            element: element,
+          );
+        }
+        final ConstantReader caseSensitiveValue = reader.read('caseSensitive');
+        value = RelativeGoRouteConfig._(
+          path: pathValue.stringValue,
+          caseSensitive: caseSensitiveValue.boolValue,
+          routeDataClass: classElement,
+          parent: parent,
+          parentNavigatorKey: _generateParameterGetterCode(
+            classElement,
+            parameterName: r'$parentNavigatorKey',
+          ),
+        );
       default:
         throw UnsupportedError('Unrecognized type $typeName');
     }
diff --git a/packages/go_router_builder/pubspec.yaml b/packages/go_router_builder/pubspec.yaml
index 7d7dde0c8931..7229af74fd9a 100644
--- a/packages/go_router_builder/pubspec.yaml
+++ b/packages/go_router_builder/pubspec.yaml
@@ -2,7 +2,7 @@ name: go_router_builder
 description: >-
   A builder that supports generated strongly-typed route helpers for
   package:go_router
-version: 3.0.1
+version: 3.0.2
 repository: https://github.com/flutter/packages/tree/main/packages/go_router_builder
 issue_tracker: https://github.com/flutter/flutter/issues?q=is%3Aissue+is%3Aopen+label%3A%22p%3A+go_router_builder%22
 
@@ -29,7 +29,7 @@ dev_dependencies:
   dart_style: '>=2.3.7 <4.0.0'
   flutter:
     sdk: flutter
-  go_router: ^15.1.0
+  go_router: ^16.1.1
   leak_tracker_flutter_testing: ">=3.0.0"
   package_config: ^2.1.1
   pub_semver: ^2.1.5
diff --git a/packages/go_router_builder/test_inputs/go_relative.dart b/packages/go_router_builder/test_inputs/go_relative.dart
new file mode 100644
index 000000000000..0ef85ed4b9ae
--- /dev/null
+++ b/packages/go_router_builder/test_inputs/go_relative.dart
@@ -0,0 +1,42 @@
+// Copyright 2013 The Flutter Authors. All rights reserved.
+// Use of this source code is governed by a BSD-style license that can be
+// found in the LICENSE file.
+
+import 'package:go_router/go_router.dart';
+
+mixin _$Route1 {}
+mixin _$Route2 {}
+mixin _$RelativeRoute {}
+mixin _$InnerRelativeRoute {}
+
+const TypedRelativeGoRoute<RelativeRoute> relativeRoute =
+    TypedRelativeGoRoute<RelativeRoute>(
+  path: 'relative-route',
+  routes: <TypedRoute<RouteData>>[
+    TypedRelativeGoRoute<InnerRelativeRoute>(path: 'inner-relative-route')
+  ],
+);
+
+@TypedGoRoute<Route1>(
+  path: 'route-1',
+  routes: <TypedRoute<RouteData>>[relativeRoute],
+)
+class Route1 extends GoRouteData with _$Route1 {
+  const Route1();
+}
+
+@TypedGoRoute<Route2>(
+  path: 'route-2',
+  routes: <TypedRoute<RouteData>>[relativeRoute],
+)
+class Route2 extends GoRouteData with _$Route2 {
+  const Route2();
+}
+
+class RelativeRoute extends RelativeGoRouteData with _$RelativeRoute {
+  const RelativeRoute();
+}
+
+class InnerRelativeRoute extends RelativeGoRouteData with _$InnerRelativeRoute {
+  const InnerRelativeRoute();
+}
diff --git a/packages/go_router_builder/test_inputs/go_relative.dart.expect b/packages/go_router_builder/test_inputs/go_relative.dart.expect
new file mode 100644
index 000000000000..45697254696a
--- /dev/null
+++ b/packages/go_router_builder/test_inputs/go_relative.dart.expect
@@ -0,0 +1,132 @@
+RouteBase get $route1 => GoRouteData.$route(
+      path: 'route-1',
+      factory: _$Route1._fromState,
+      routes: [
+        RelativeGoRouteData.$route(
+          path: 'relative-route',
+          factory: _$RelativeRoute._fromState,
+          routes: [
+            RelativeGoRouteData.$route(
+              path: 'inner-relative-route',
+              factory: _$InnerRelativeRoute._fromState,
+            ),
+          ],
+        ),
+      ],
+    );
+
+mixin _$Route1 on GoRouteData {
+  static Route1 _fromState(GoRouterState state) => const Route1();
+
+  @override
+  String get location => GoRouteData.$location(
+        'route-1',
+      );
+
+  @override
+  void go(BuildContext context) => context.go(location);
+
+  @override
+  Future<T?> push<T>(BuildContext context) => context.push<T>(location);
+
+  @override
+  void pushReplacement(BuildContext context) =>
+      context.pushReplacement(location);
+
+  @override
+  void replace(BuildContext context) => context.replace(location);
+}
+
+mixin _$RelativeRoute on RelativeGoRouteData {
+  static RelativeRoute _fromState(GoRouterState state) => const RelativeRoute();
+
+  @override
+  String get location => RelativeGoRouteData.$location(
+        'relative-route',
+      );
+
+  @override
+  String get relativeLocation => './$location';
+
+  @override
+  void goRelative(BuildContext context) => context.go(relativeLocation);
+
+  @override
+  Future<T?> pushRelative<T>(BuildContext context) =>
+      context.push<T>(relativeLocation);
+
+  @override
+  void pushReplacementRelative(BuildContext context) =>
+      context.pushReplacement(relativeLocation);
+
+  @override
+  void replaceRelative(BuildContext context) =>
+      context.replace(relativeLocation);
+}
+
+mixin _$InnerRelativeRoute on RelativeGoRouteData {
+  static InnerRelativeRoute _fromState(GoRouterState state) =>
+      const InnerRelativeRoute();
+
+  @override
+  String get location => RelativeGoRouteData.$location(
+        'inner-relative-route',
+      );
+
+  @override
+  String get relativeLocation => './$location';
+
+  @override
+  void goRelative(BuildContext context) => context.go(relativeLocation);
+
+  @override
+  Future<T?> pushRelative<T>(BuildContext context) =>
+      context.push<T>(relativeLocation);
+
+  @override
+  void pushReplacementRelative(BuildContext context) =>
+      context.pushReplacement(relativeLocation);
+
+  @override
+  void replaceRelative(BuildContext context) =>
+      context.replace(relativeLocation);
+}
+
+RouteBase get $route2 => GoRouteData.$route(
+      path: 'route-2',
+      factory: _$Route2._fromState,
+      routes: [
+        RelativeGoRouteData.$route(
+          path: 'relative-route',
+          factory: _$RelativeRoute._fromState,
+          routes: [
+            RelativeGoRouteData.$route(
+              path: 'inner-relative-route',
+              factory: _$InnerRelativeRoute._fromState,
+            ),
+          ],
+        ),
+      ],
+    );
+
+mixin _$Route2 on GoRouteData {
+  static Route2 _fromState(GoRouterState state) => const Route2();
+
+  @override
+  String get location => GoRouteData.$location(
+        'route-2',
+      );
+
+  @override
+  void go(BuildContext context) => context.go(location);
+
+  @override
+  Future<T?> push<T>(BuildContext context) => context.push<T>(location);
+
+  @override
+  void pushReplacement(BuildContext context) =>
+      context.pushReplacement(location);
+
+  @override
+  void replace(BuildContext context) => context.replace(location);
+}
\ No newline at end of file
diff --git a/packages/go_router_builder/test_inputs/invalid_relative_route_tree.dart b/packages/go_router_builder/test_inputs/invalid_relative_route_tree.dart
new file mode 100644
index 000000000000..6642b4d44dbf
--- /dev/null
+++ b/packages/go_router_builder/test_inputs/invalid_relative_route_tree.dart
@@ -0,0 +1,33 @@
+// Copyright 2013 The Flutter Authors. All rights reserved.
+// Use of this source code is governed by a BSD-style license that can be
+// found in the LICENSE file.
+
+import 'package:go_router/go_router.dart';
+
+mixin _$HomeRoute {}
+mixin _$RelativeRoute {}
+mixin _$NonRelativeRoute {}
+
+@TypedGoRoute<HomeRoute>(
+  path: '/',
+  routes: <TypedRoute<RouteData>>[relativeRoute],
+)
+class HomeRoute extends GoRouteData with _$HomeRoute {
+  const HomeRoute();
+}
+
+const TypedRelativeGoRoute<RelativeRoute> relativeRoute =
+    TypedRelativeGoRoute<RelativeRoute>(
+  path: 'relative-route',
+  routes: <TypedRoute<RouteData>>[
+    TypedGoRoute<NonRelativeRoute>(path: 'non-relative-route'),
+  ],
+);
+
+class RelativeRoute extends RelativeGoRouteData with _$RelativeRoute {
+  const RelativeRoute();
+}
+
+class NonRelativeRoute extends GoRouteData with _$NonRelativeRoute {
+  const NonRelativeRoute();
+}
diff --git a/packages/go_router_builder/test_inputs/invalid_relative_route_tree.dart.expect b/packages/go_router_builder/test_inputs/invalid_relative_route_tree.dart.expect
new file mode 100644
index 000000000000..3d7274dfa222
--- /dev/null
+++ b/packages/go_router_builder/test_inputs/invalid_relative_route_tree.dart.expect
@@ -0,0 +1 @@
+TypedRelativeGoRoute cannot have a TypedGoRoute as a child.
\ No newline at end of file
diff --git a/packages/go_router_builder/test_inputs/no_mixin_relative.dart b/packages/go_router_builder/test_inputs/no_mixin_relative.dart
new file mode 100644
index 000000000000..f6e44d2dc45d
--- /dev/null
+++ b/packages/go_router_builder/test_inputs/no_mixin_relative.dart
@@ -0,0 +1,8 @@
+// Copyright 2013 The Flutter Authors. All rights reserved.
+// Use of this source code is governed by a BSD-style license that can be
+// found in the LICENSE file.
+
+import 'package:go_router/go_router.dart';
+
+@TypedRelativeGoRoute<HomeRoute>(path: '/')
+class HomeRoute extends RelativeGoRouteData {}
diff --git a/packages/go_router_builder/test_inputs/no_mixin_relative.dart.expect b/packages/go_router_builder/test_inputs/no_mixin_relative.dart.expect
new file mode 100644
index 000000000000..77df30f3c0a8
--- /dev/null
+++ b/packages/go_router_builder/test_inputs/no_mixin_relative.dart.expect
@@ -0,0 +1 @@
+Missing mixin clause `with _$HomeRoute`
\ No newline at end of file