UVR Baker is a Blender add-on from Michael Jared that bakes several objects with different materials onto a single PBR texture set. It targets a specific gap in the Ucupaint workflow, which currently cannot bake multiple objects with different materials to one texture set — a useful step when you design separate parts and want to merge them.
The add-on installs from the N-panel. The workflow is to add a second, non-overlapping UV set to your objects, configure the Source UV and Target UV, then select your objects and bake a single or multi-channel result. Ucupaint must be disabled while baking, because it auto-selects images inside its shader node and can interfere with the bake. A Build PBR Material operator can duplicate your objects into a new collection and joins them.
Recommended settings include power-of-two resolutions such as 1024 or 2048, plus a Bake Type Suffix that auto-names baked images, for example BakedAtlas_Diffuse. Baking is resource intensive; the bake is finished when the button turns from blue to gray. UVR Baker is MIT-licensed, supports Blender 4.0 to 5.0, and works with Cycles and Eevee. A demo video is available.