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            <ccc>XXXXXXXX</ccc>
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        <liveTestFlag>LIVE</liveTestFlag>
  
  
  
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        <issuerCik>0001828108</issuerCik>
        <issuerName>Aurora Innovation, Inc.</issuerName>
        <secFileNumber>001-40216</secFileNumber>
        <issuerAddress>
          <com:street1>1654 SMALLMAN ST.</com:street1>
          <com:city>PITTSBURGH</com:city>
          <com:stateOrCountry>PA</com:stateOrCountry>
          <com:zipCode>15222</com:zipCode>
        </issuerAddress>
        <issuerContactPhone>(888) 583-9506</issuerContactPhone>
        <nameOfPersonForWhoseAccountTheSecuritiesAreToBeSold>GREYLOCK 15 LIMITED PARTNERSHIP</nameOfPersonForWhoseAccountTheSecuritiesAreToBeSold>
        <relationshipsToIssuer>
          <relationshipToIssuer>Director</relationshipToIssuer>
        </relationshipsToIssuer>
      </issuerInfo>
      <securitiesInformation>
        <securitiesClassTitle>Common</securitiesClassTitle>
        <brokerOrMarketmakerDetails>
          <name>Morgan Stanley Smith Barney</name>
          <address>
            <com:street1>One New York Plaza</com:street1>
            <com:city>New York</com:city>
            <com:stateOrCountry>NY</com:stateOrCountry>
            <com:zipCode>10004</com:zipCode>
          </address>
        </brokerOrMarketmakerDetails>
        <noOfUnitsSold>51902</noOfUnitsSold>
        <aggregateMarketValue>150407.00</aggregateMarketValue>
        <noOfUnitsOutstanding>1168399674</noOfUnitsOutstanding>
        <approxSaleDate>02/20/2024</approxSaleDate>
        <securitiesExchangeName>NASDAQ</securitiesExchangeName>
      </securitiesInformation>
      <securitiesToBeSold>
        <securitiesClassTitle>Common</securitiesClassTitle>
        <acquiredDate>11/04/2021</acquiredDate>
        <natureOfAcquisitionTransaction>Merger/Acquisition</natureOfAcquisitionTransaction>
        <nameOfPersonfromWhomAcquired>Issuer</nameOfPersonfromWhomAcquired>
        <isGiftTransaction>N</isGiftTransaction>
        <amountOfSecuritiesAcquired>51902</amountOfSecuritiesAcquired>
        <paymentDate>11/04/2021</paymentDate>
        <natureOfPayment>Stock Swap</natureOfPayment>
      </securitiesToBeSold>
      <nothingToReportFlagOnSecuritiesSoldInPast3Months>Y</nothingToReportFlagOnSecuritiesSoldInPast3Months>
      <noticeSignature>
        <noticeDate>02/21/2024</noticeDate>
        <signature>/s/ Adam J Amero</signature>
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text: 144
  0001687183
  XXXXXXXX
  LIVE
  0001828108
  Aurora Innovation, Inc.
  001-40216
  1654 SMALLMAN ST.
  PITTSBURGH
  PA
  15222
  (888) 583-9506
  GREYLOCK 15 LIMITED PARTNERSHIP
  Director
  Common
  Morgan Stanley Smith Barney
  One New York Plaza
  New York
  NY
  10004
  51902
  150407.00
  1168399674
  02/20/2024
  NASDAQ
  Common
  11/04/2021
  Merger/Acquisition
  Issuer
  N
  51902
  11/04/2021
  Stock Swap
  Y
  02/21/2024
  /s/ Adam J Amero