diff --git a/gtsam/nonlinear/internal/ExecutionTrace.h b/gtsam/nonlinear/internal/ExecutionTrace.h
index 17557ba3a..7a6684a27 100644
--- a/gtsam/nonlinear/internal/ExecutionTrace.h
+++ b/gtsam/nonlinear/internal/ExecutionTrace.h
@@ -22,11 +22,11 @@
 #include <gtsam/inference/Key.h>
 #include <gtsam/base/Manifold.h>
 
-#include <boost/type_traits/aligned_storage.hpp>
-
 #include <Eigen/Core>
+
 #include <iostream>
 #include <optional>
+#include <type_traits>
 
 namespace gtsam {
 namespace internal {
@@ -37,7 +37,7 @@ template<int T> struct CallRecord;
 /// It enforces the proper alignment in a portable way.
 /// Provide a traceSize() sized array of this type to traceExecution as traceStorage.
 static const unsigned TraceAlignment = 32;
-typedef boost::aligned_storage<1, TraceAlignment>::type ExecutionTraceStorage;
+typedef std::aligned_storage<1, TraceAlignment>::type ExecutionTraceStorage;
 
 template<bool UseBlock, typename Derived>
 struct UseBlockIf {