diff --git a/ports/gazebo/0001-Fix-deps.patch b/ports/gazebo/0001-Fix-deps.patch
index a933d6884f9b04..aa4aca02428c5d 100644
--- a/ports/gazebo/0001-Fix-deps.patch
+++ b/ports/gazebo/0001-Fix-deps.patch
@@ -1,8 +1,81 @@
-diff --git a/cmake/SearchForStuff.cmake b/cmake/SearchForStuff.cmake
-index 4085b5aaeb..f89ac88333 100644
+diff --git a/cmake/FindFreeimage.cmake b/cmake/FindFreeimage.cmake
+index a989ec7..7cc6f44 100644
+--- a/cmake/FindFreeimage.cmake
++++ b/cmake/FindFreeimage.cmake
+@@ -3,7 +3,7 @@ include (${gazebo_cmake_dir}/GazeboUtils.cmake)
+ 
+ ########################################
+ # Find packages
+-if (PKG_CONFIG_FOUND)
++if (false)
+   pkg_check_modules(freeimage freeimage>=${MIN_FREEIMAGE_VERSION})
+   if (NOT freeimage_FOUND)
+     message (STATUS "  freeimage.pc not found, trying freeimage_include_dir and freeimage_library_dir flags.")
+@@ -11,6 +11,7 @@ if (PKG_CONFIG_FOUND)
+ endif (PKG_CONFIG_FOUND)
+ 
+ if (NOT freeimage_FOUND)
++  if (false)
+   find_path(freeimage_INCLUDE_DIRS FreeImage.h)
+   if (NOT freeimage_INCLUDE_DIRS)
+     message (STATUS "  Looking for FreeImage.h - not found")
+@@ -32,7 +33,11 @@ if (NOT freeimage_FOUND)
+        message (STATUS "  Looking for FreeImage.h - found")
+     endif (NOT FREEIMAGE_RUNS)
+   endif (NOT freeimage_INCLUDE_DIRS)
++  endif()
+ 
++  find_package(freeimage CONFIG REQUIRED)
++  set(freeimage_LIBRARIES freeimage::FreeImage)
++  if (0)
+   if (WIN32)
+     if ("${CMAKE_BUILD_TYPE}" STREQUAL "Debug")
+       find_library(freeimage_LIBRARIES FreeImaged)
+@@ -49,4 +54,5 @@ if (NOT freeimage_FOUND)
+     message (STATUS "  Looking for libfreeimage - found")
+     include_directories(${freeimage_INCLUDE_DIRS})
+   endif (NOT freeimage_LIBRARIES)
++  endif()
+ endif (NOT freeimage_FOUND)
+diff --git a/cmake/SearchForStuff.cmake b/cmake/SearchForStuff.cmake
+index 9777a46..be03eb8 100644
 --- a/cmake/SearchForStuff.cmake
 +++ b/cmake/SearchForStuff.cmake
-@@ -179,7 +179,7 @@ if (PKG_CONFIG_FOUND)
+@@ -31,7 +31,10 @@ endif()
+ 
+ ########################################
+ # The Google Protobuf library for message generation + serialization
+-find_package(Protobuf REQUIRED)
++find_package(protobuf CONFIG REQUIRED)
++set(GZ_PROTOBUF_LIBRARY protobuf::libprotobuf protobuf::libprotobuf-lite)
++set(GZ_PROTOBUF_PROTOC_LIBRARY protobuf::libprotoc)
++if (0)
+ if (NOT PROTOBUF_FOUND)
+   BUILD_ERROR ("Missing: Google Protobuf (libprotobuf-dev)")
+ endif()
+@@ -49,6 +52,7 @@ else()
+   set (GZ_PROTOBUF_LIBRARY ${PROTOBUF_LIBRARY})
+   set (GZ_PROTOBUF_PROTOC_LIBRARY ${PROTOBUF_PROTOC_LIBRARY})
+ endif()
++endif()
+ 
+ ########################################
+ include (FindOpenGL)
+@@ -144,7 +148,12 @@ if (PKG_CONFIG_FOUND)
+   # Find Simbody
+   set(SimTK_INSTALL_DIR ${SimTK_INSTALL_PREFIX})
+   #list(APPEND CMAKE_MODULE_PATH ${SimTK_INSTALL_PREFIX}/share/cmake)
+-  find_package(Simbody)
++  find_package(Simbody CONFIG REQUIRED)
++  if (TARGET SimTKmath_static)
++    set(Simbody_LIBRARIES SimTKmath_static SimTKcommon_static SimTKsimbody_static)
++  else()
++    set(Simbody_LIBRARIES SimTKmath SimTKcommon SimTKsimbody)
++  endif()
+   if (Simbody_FOUND)
+     message (STATUS "Looking for Simbody - found")
+     set (HAVE_SIMBODY TRUE)
+@@ -179,7 +188,7 @@ if (PKG_CONFIG_FOUND)
    # (needed, at least, for MacOS)
  
    # Use system installation on UNIX and Apple, and internal copy on Windows
@@ -11,7 +84,7 @@ index 4085b5aaeb..f89ac88333 100644
      message (STATUS "Using system tinyxml.")
      set (USE_EXTERNAL_TINYXML True)
    elseif(WIN32)
-@@ -225,7 +225,7 @@ if (PKG_CONFIG_FOUND)
+@@ -225,7 +234,7 @@ if (PKG_CONFIG_FOUND)
    # (needed, at least, for MacOS)
  
    # Use system installation on UNIX and Apple, and internal copy on Windows
@@ -20,7 +93,26 @@ index 4085b5aaeb..f89ac88333 100644
      message (STATUS "Using system tinyxml2.")
      set (USE_EXTERNAL_TINYXML2 True)
    elseif(WIN32)
-@@ -513,7 +513,7 @@ if (PKG_CONFIG_FOUND)
+@@ -329,6 +338,7 @@ if (PKG_CONFIG_FOUND)
+   #################################################
+   # Find OGRE
+ 
++  if (false)
+   pkg_check_modules(OGRE-RTShaderSystem
+                     OGRE-RTShaderSystem>=${MIN_OGRE_VERSION})
+ 
+@@ -375,8 +385,8 @@ if (PKG_CONFIG_FOUND)
+       set (OGRE_PLUGINDIR ${_pkgconfig_invoke_result})
+     endif()
+   endif()
+-
+-  if (NOT OGRE_FOUND)
++  endif()
++  if (true)
+     # Workaround for CMake bug https://gitlab.kitware.com/cmake/cmake/issues/17135,
+     # that prevents to successfully run a find_package(<package>) call if before there
+     # was a failed call to pkg_check_modules(<package> <package>)
+@@ -513,7 +523,7 @@ if (PKG_CONFIG_FOUND)
    endif ()
  
    if (libavutil_FOUND AND libavformat_FOUND AND libavcodec_FOUND AND
@@ -29,7 +121,7 @@ index 4085b5aaeb..f89ac88333 100644
      set (HAVE_FFMPEG TRUE)
    else ()
      set (HAVE_FFMPEG FALSE)
-@@ -538,7 +538,7 @@ if (PKG_CONFIG_FOUND)
+@@ -538,7 +548,7 @@ if (PKG_CONFIG_FOUND)
    ########################################
    # Find GNU Triangulation Surface Library
    pkg_check_modules(gts gts)
@@ -38,7 +130,7 @@ index 4085b5aaeb..f89ac88333 100644
      message (STATUS "Looking for GTS - found")
      set (HAVE_GTS TRUE)
    else ()
-@@ -551,13 +551,14 @@ if (PKG_CONFIG_FOUND)
+@@ -551,13 +561,14 @@ if (PKG_CONFIG_FOUND)
    # First and preferred option is to look for bullet standard pkgconfig,
    # so check it first. if it is not present, check for the OSRF
    # custom bullet2.82.pc file
@@ -54,7 +146,7 @@ index 4085b5aaeb..f89ac88333 100644
      add_definitions( -DLIBBULLET_VERSION=${BULLET_VERSION} )
    else()
      set (HAVE_BULLET FALSE)
-@@ -572,7 +573,7 @@ if (PKG_CONFIG_FOUND)
+@@ -572,7 +583,7 @@ if (PKG_CONFIG_FOUND)
    ########################################
    # Find libusb
    pkg_check_modules(libusb-1.0 libusb-1.0)
@@ -63,7 +155,7 @@ index 4085b5aaeb..f89ac88333 100644
      BUILD_WARNING ("libusb-1.0 not found. USB peripherals support will be disabled.")
      set (HAVE_USB OFF CACHE BOOL "HAVE USB" FORCE)
    else()
-@@ -648,7 +649,7 @@ endif ()
+@@ -648,7 +659,7 @@ endif ()
  ########################################
  # Find gdal
  include (FindGDAL)
@@ -72,7 +164,7 @@ index 4085b5aaeb..f89ac88333 100644
    message (STATUS "Looking for libgdal - not found")
    BUILD_WARNING ("GDAL not found, Digital elevation terrains support will be disabled.")
    set (HAVE_GDAL OFF CACHE BOOL "HAVE GDAL" FORCE)
-@@ -718,7 +719,7 @@ endif()
+@@ -732,7 +743,7 @@ endif()
  ########################################
  # Find graphviz
  include (${gazebo_cmake_dir}/FindGraphviz.cmake)
@@ -82,7 +174,7 @@ index 4085b5aaeb..f89ac88333 100644
    BUILD_WARNING ("Graphviz not found, Model editor's schematic view will be disabled.")
    set (HAVE_GRAPHVIZ OFF CACHE BOOL "HAVE GRAPHVIZ" FORCE)
 diff --git a/cmake/gazebo-config.cmake.in b/cmake/gazebo-config.cmake.in
-index b57a90dd76..63ce97095e 100644
+index b57a90d..63ce970 100644
 --- a/cmake/gazebo-config.cmake.in
 +++ b/cmake/gazebo-config.cmake.in
 @@ -99,12 +99,13 @@ list(APPEND @PKG_NAME@_CFLAGS -I${GAZEBO_INSTALL_INCLUDE_DIR}/gazebo-@GAZEBO_MAJ
diff --git a/ports/gazebo/add-features.patch b/ports/gazebo/add-features.patch
new file mode 100644
index 00000000000000..cf9581d3127024
--- /dev/null
+++ b/ports/gazebo/add-features.patch
@@ -0,0 +1,39 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 3e0ae3d..eeb1ba7 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -384,16 +384,18 @@ else (build_errors)
+     set(TEST_TYPE "UNIT")
+     add_subdirectory(gazebo)
+     add_subdirectory(media)
++    if (BUILD_TOOLS)
+     add_subdirectory(tools)
++    endif()
++    if (BUILD_PLUGINS)
+     add_subdirectory(plugins)
++    endif()
+     add_subdirectory(interfaces)
+     add_subdirectory(worlds)
+     add_subdirectory(models)
+ 
+     if (BUILD_TESTING)
+       add_subdirectory(test)
+-    else()
+-      add_subdirectory(test EXCLUDE_FROM_ALL)
+     endif()
+ 
+   endif (BUILD_GAZEBO)
+diff --git a/gazebo/CMakeLists.txt b/gazebo/CMakeLists.txt
+index 9ad9d02..5c45753 100644
+--- a/gazebo/CMakeLists.txt
++++ b/gazebo/CMakeLists.txt
+@@ -41,7 +41,9 @@ add_subdirectory(gui)
+ add_subdirectory(physics)
+ add_subdirectory(sensors)
+ add_subdirectory(util)
++if (BUILD_TESTING)
+ add_subdirectory(test)
++endif()
+ 
+ add_dependencies(gazebo_physics gazebo_msgs)
+ add_dependencies(gazebo_gui gazebo_msgs)
diff --git a/ports/gazebo/fix-build-type.patch b/ports/gazebo/fix-build-type.patch
new file mode 100644
index 00000000000000..3ccf63c650ef5c
--- /dev/null
+++ b/ports/gazebo/fix-build-type.patch
@@ -0,0 +1,18 @@
+diff --git a/cmake/GazeboUtils.cmake b/cmake/GazeboUtils.cmake
+index f1710e9..ace50f9 100644
+--- a/cmake/GazeboUtils.cmake
++++ b/cmake/GazeboUtils.cmake
+@@ -146,13 +146,11 @@ endmacro ()
+ #################################################
+ macro (gz_setup_unix)
+     # Using dynamic linking in UNIX by default
+-    set(BUILD_SHARED_LIBS TRUE)
+ endmacro()
+ 
+ #################################################
+ macro (gz_setup_windows)
+     # Using dynamic linking in Windows by default
+-    set(BUILD_SHARED_LIBS TRUE)
+     add_definitions(-DWIN32_LEAN_AND_MEAN)
+ 
+     # Need for M_PI constant
diff --git a/ports/gazebo/fix-opengl-def.patch b/ports/gazebo/fix-opengl-def.patch
new file mode 100644
index 00000000000000..84db09c90c5274
--- /dev/null
+++ b/ports/gazebo/fix-opengl-def.patch
@@ -0,0 +1,13 @@
+diff --git a/gazebo/rendering/RenderEngine.cc b/gazebo/rendering/RenderEngine.cc
+index 87d78ea95d..bd90493266 100644
+--- a/gazebo/rendering/RenderEngine.cc
++++ b/gazebo/rendering/RenderEngine.cc
+@@ -22,6 +22,8 @@
+ 
+ // Not Apple or Windows
+ #if not defined(__APPLE__) && not defined(_WIN32)
++#define GL_GLEXT_LEGACY
++#define GLX_GLXEXT_LEGACY
+ # include <X11/Xlib.h>
+ # include <X11/Xutil.h>
+ # include <GL/glx.h>
diff --git a/ports/gazebo/portfile.cmake b/ports/gazebo/portfile.cmake
index 40de3b16bff7d3..dea45546ecb661 100644
--- a/ports/gazebo/portfile.cmake
+++ b/ports/gazebo/portfile.cmake
@@ -1,18 +1,13 @@
-vcpkg_download_distfile(gazebo3211
-    URLS "https://patch-diff.githubusercontent.com/raw/osrf/gazebo/pull/3211.diff"
-    FILENAME "gazebo3211.diff"
-    SHA512 761e254866d4705acc0b81479285f979c436b3b611739a207a575031d8a8daba48de4fc0c8de5edb9a9f89725586c5caeef9e6e1e3d63a2d961ca09df974f7de
-)
-
 vcpkg_from_github(
     OUT_SOURCE_PATH SOURCE_PATH
     REPO osrf/gazebo
-    REF 382dcc3f36095a8d79b5bc9c8b8ad346e867c51d
-    SHA512 57638cd0b23b5f2bfd32fdc159d6cd77ca34e3bd695c225591979aef4b7271eac93d3706fa1ffa2340f90013267a4171bebe1e4c142f19ad2bf67963dfed627e
-    HEAD_REF gazebo11
+    REF gazebo11_11.11.0
+    SHA512 0f625f71ce9c6a875ac4d694cc767735243ed20922282fb1f0ef614ddeadf35e8e08e1d8484f9dbf3c873259fae93b550742deab7954c00b055890bad2b22dff
     PATCHES
         0001-Fix-deps.patch
-        ${gazebo3211}
+        fix-build-type.patch
+        fix-opengl-def.patch
+        add-features.patch
 )
 
 vcpkg_check_features(OUT_FEATURE_OPTIONS FEATURE_OPTIONS
@@ -20,6 +15,8 @@ vcpkg_check_features(OUT_FEATURE_OPTIONS FEATURE_OPTIONS
         openal    HAVE_OPENAL
         ffmpeg    FFMPEG_FEATURE
         gts       GTS_FEATURE
+        plugins   BUILD_PLUGINS
+        tools     BUILD_TOOLS
     INVERTED_FEATURES
         simbody   CMAKE_DISABLE_FIND_PACKAGE_Simbody
         dart      CMAKE_DISABLE_FIND_PACKAGE_DART
@@ -32,9 +29,10 @@ vcpkg_check_features(OUT_FEATURE_OPTIONS FEATURE_OPTIONS
 vcpkg_cmake_configure(
     SOURCE_PATH "${SOURCE_PATH}"
     OPTIONS
-        -DUSE_EXTERNAL_TINY_PROCESS_LIBRARY=ON
-        -DPKG_CONFIG_EXECUTABLE=${CURRENT_HOST_INSTALLED_DIR}/tools/pkgconf/pkgconf${VCPKG_HOST_EXECUTABLE_SUFFIX}
         ${FEATURE_OPTIONS}
+        -DUSE_EXTERNAL_TINY_PROCESS_LIBRARY=ON
+        "-DPKG_CONFIG_EXECUTABLE=${CURRENT_HOST_INSTALLED_DIR}/tools/pkgconf/pkgconf${VCPKG_HOST_EXECUTABLE_SUFFIX}"
+        -DPKG_CONFIG_USE_CMAKE_PREFIX_PATH=ON
         -DBUILD_TESTING=OFF  # Not enabled by default, but to be sure
 )
 
diff --git a/ports/gazebo/vcpkg.json b/ports/gazebo/vcpkg.json
index 30b8dac5baac5b..2c953f914d33be 100644
--- a/ports/gazebo/vcpkg.json
+++ b/ports/gazebo/vcpkg.json
@@ -1,7 +1,6 @@
 {
   "name": "gazebo",
-  "version-date": "2022-01-20",
-  "port-version": 3,
+  "version": "11.11.0",
   "description": "Open source robotics simulator.",
   "homepage": "http://gazebosim.org",
   "license": "Apache-2.0",
@@ -19,6 +18,7 @@
     "boost-thread",
     "boost-uuid",
     "ccd",
+    "freeimage",
     {
       "name": "hdf5",
       "features": [
@@ -30,7 +30,12 @@
     "ignition-math6",
     "ignition-msgs5",
     "ignition-transport8",
+    {
+      "name": "libtar",
+      "platform": "!windows"
+    },
     "ogre",
+    "opengl",
     {
       "name": "pkgconf",
       "host": true
@@ -38,6 +43,10 @@
     "protobuf",
     "qwt",
     "sdformat9",
+    {
+      "name": "simbody",
+      "platform": "!windows"
+    },
     "tbb",
     "tiny-process-library",
     {
@@ -116,11 +125,19 @@
         "openal-soft"
       ]
     },
+    "plugins": {
+      "description": "Build gazebo plugins",
+      "supports": "!linux"
+    },
     "simbody": {
       "description": "Use the simbody physics engine",
       "dependencies": [
         "simbody"
       ]
+    },
+    "tools": {
+      "description": "Build gazebo tools",
+      "supports": "!(linux & static)"
     }
   }
 }
diff --git a/ports/libtar/portfile.cmake b/ports/libtar/portfile.cmake
new file mode 100644
index 00000000000000..edb41301679e8e
--- /dev/null
+++ b/ports/libtar/portfile.cmake
@@ -0,0 +1,16 @@
+set(VCPKG_USE_HEAD_VERSION ON)
+vcpkg_from_git(
+    OUT_SOURCE_PATH SOURCE_PATH
+    URL https://repo.or.cz/libtar.git
+    HEAD_REF v1.2.20
+)
+
+vcpkg_configure_make(
+    SOURCE_PATH "${SOURCE_PATH}"
+)
+
+vcpkg_install_make()
+
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/include"  "${CURRENT_PACKAGES_DIR}/debug/share")
+
+file(INSTALL "${SOURCE_PATH}/COPYRIGHT" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}" RENAME copyright)
diff --git a/ports/libtar/vcpkg.json b/ports/libtar/vcpkg.json
new file mode 100644
index 00000000000000..d07de7154ab632
--- /dev/null
+++ b/ports/libtar/vcpkg.json
@@ -0,0 +1,7 @@
+{
+  "name": "libtar",
+  "version": "1.2.20",
+  "description": "libtar - C library for manipulating tar files",
+  "homepage": "https://repo.or.cz/libtar.git",
+  "supports": "!windows"
+}
diff --git a/scripts/ci.baseline.txt b/scripts/ci.baseline.txt
index 35c7103040bea2..1958b99500e923 100644
--- a/scripts/ci.baseline.txt
+++ b/scripts/ci.baseline.txt
@@ -272,9 +272,6 @@ ftgl:arm-uwp=fail
 # https://github.com/GoogleCloudPlatform/functions-framework-cpp/issues/207
 functions-framework-cpp:x64-uwp=fail
 
-# VS 2022 Update 3 seems to have broken Gazebo: https://devdiv.visualstudio.com/DefaultCollection/DevDiv/_workitems/edit/1522474
-gazebo:x64-windows=fail
-gazebo:x64-linux=fail
 # gsoap does not offer stable public source downloads
 gsoap:x64-windows        = skip
 gsoap:x86-windows        = skip
diff --git a/versions/baseline.json b/versions/baseline.json
index 80346e0d37c063..7310266394298b 100644
--- a/versions/baseline.json
+++ b/versions/baseline.json
@@ -2477,8 +2477,8 @@
       "port-version": 1
     },
     "gazebo": {
-      "baseline": "2022-01-20",
-      "port-version": 3
+      "baseline": "11.11.0",
+      "port-version": 0
     },
     "gcem": {
       "baseline": "1.14.1",
@@ -4148,6 +4148,10 @@
       "baseline": "3.25",
       "port-version": 0
     },
+    "libtar": {
+      "baseline": "1.2.20",
+      "port-version": 0
+    },
     "libtasn1": {
       "baseline": "4.17.0",
       "port-version": 3
diff --git a/versions/g-/gazebo.json b/versions/g-/gazebo.json
index 202e801f08c750..537d075ad91114 100644
--- a/versions/g-/gazebo.json
+++ b/versions/g-/gazebo.json
@@ -1,5 +1,10 @@
 {
   "versions": [
+    {
+      "git-tree": "cb1797db605abbde18f8925fb96144daf28331a4",
+      "version": "11.11.0",
+      "port-version": 0
+    },
     {
       "git-tree": "094ba2b47c08f30d45b33081f8b2b3790b2ec070",
       "version-date": "2022-01-20",
diff --git a/versions/l-/libtar.json b/versions/l-/libtar.json
new file mode 100644
index 00000000000000..c96f85ede50915
--- /dev/null
+++ b/versions/l-/libtar.json
@@ -0,0 +1,9 @@
+{
+  "versions": [
+    {
+      "git-tree": "c981b35ed9259a0f23aefe903584e5adfecc2f08",
+      "version": "1.2.20",
+      "port-version": 0
+    }
+  ]
+}