diff --git a/doc/XMLreference.rst b/doc/XMLreference.rst
index 513914b8..7e90fa14 100644
--- a/doc/XMLreference.rst
+++ b/doc/XMLreference.rst
@@ -5370,7 +5370,7 @@ specify them independently.
      is not required for :at:`kv` as it is already applied in actuator space (so the units are identical).
    - Implicit integration works for :at:`damping` when using the Euler integrator but not for :at:`kv`.
      To get implicit integration for :at:`kv`, implicit or implicitfast is required, see
-     :ref:`Integration<CIntegrator>`.
+     :ref:`Integrators<geIntegrators>`.
    - :at:`damping` allows for polynomial damping, while :at:`kv` is only linear.
    - Damping forces generated by :at:`kv` are subject to :ref:`forcerange<actuator-general-forcerange>` clamping, but
      forces generated by :at:`damping` are not.
diff --git a/doc/changelog.rst b/doc/changelog.rst
index 28744171..23d2dd87 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -34,8 +34,8 @@ General
 
      **Migration:** Replace assignments like ``joint.stiffness = val`` with ``joint.stiffness[0] = val``.
 
-   - The ``vertcollide`` field in :ref:`mjsContact` has been deprecated since the next release of :doc:`MuJoCo Warp <mjwarp/index>`
-     will support native flex collisions.
+   - The ``vertcollide`` field in :ref:`mjsFlex` has been removed. It is no longer required since
+     :doc:`MuJoCo Warp <mjwarp/index>` supports native flex collisions.
 
 
 Bug fixes