<?xml version="1.0" encoding="UTF-8"?><edgarSubmission xmlns="http://www.sec.gov/edgar/ownership" xmlns:ns2="http://www.sec.gov/edgar/common">
    <headerData>
        <submissionType>144</submissionType>
        <filerInfo>
            <filer>
                <filerCredentials>
                    <cik>0001687183</cik>
                    <ccc>XXXXXXXX</ccc>
                </filerCredentials>
            </filer>
            <liveTestFlag>LIVE</liveTestFlag>



        </filerInfo>
    </headerData>
    <formData>
        <issuerInfo>
            <issuerCik>0001828108</issuerCik>
            <issuerName>AURORA INNOVATION, INC.</issuerName>
            <secFileNumber>001-40216</secFileNumber>
            <issuerAddress>
                <ns2:street1>1654 SMALLMAN ST.</ns2:street1>
                <ns2:city>Pittsburgh</ns2:city>
                <ns2:stateOrCountry>PA</ns2:stateOrCountry>
                <ns2:zipCode>15222</ns2:zipCode>
            </issuerAddress>
            <issuerContactPhone>8885839506</issuerContactPhone>
            <nameOfPersonForWhoseAccountTheSecuritiesAreToBeSold>GREYLOCK 15 LIMITED PARTNERSHIP</nameOfPersonForWhoseAccountTheSecuritiesAreToBeSold>
            <relationshipsToIssuer>
                <relationshipToIssuer>Director</relationshipToIssuer>
            </relationshipsToIssuer>
        </issuerInfo>
        <securitiesInformation>
            <securitiesClassTitle>Common</securitiesClassTitle>
            <brokerOrMarketmakerDetails>
                <name>Morgan Stanley Smith Barney LLC Executive Financial Services</name>
                <address>
                    <ns2:street1>1 New York Plaza</ns2:street1>
                    <ns2:street2>8th Floor</ns2:street2>
                    <ns2:city>New York</ns2:city>
                    <ns2:stateOrCountry>NY</ns2:stateOrCountry>
                    <ns2:zipCode>10004</ns2:zipCode>
                </address>
            </brokerOrMarketmakerDetails>
            <noOfUnitsSold>771117</noOfUnitsSold>
            <aggregateMarketValue>4229885.19</aggregateMarketValue>
            <noOfUnitsOutstanding>1351555176</noOfUnitsOutstanding>
            <approxSaleDate>11/11/2024</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>12687274</amountOfSecuritiesAcquired>
            <paymentDate>11/04/2021</paymentDate>
            <natureOfPayment>Stock Swap</natureOfPayment>
        </securitiesToBeSold>
        <nothingToReportFlagOnSecuritiesSoldInPast3Months>N</nothingToReportFlagOnSecuritiesSoldInPast3Months>
        <securitiesSoldInPast3Months>
            <sellerDetails>
                <name>GREYLOCK 15-A LIMITED PARTNERSHIP</name>
                <address>
                    <ns2:street1>1654 SMALLMAN ST.</ns2:street1>
                    <ns2:city>Pittsburgh</ns2:city>
                    <ns2:stateOrCountry>PA</ns2:stateOrCountry>
                    <ns2:zipCode>15222</ns2:zipCode>
                </address>
            </sellerDetails>
            <securitiesClassTitle>Common</securitiesClassTitle>
            <saleDate>11/08/2024</saleDate>
            <amountOfSecuritiesSold>41486</amountOfSecuritiesSold>
            <grossProceeds>229782.66</grossProceeds>
        </securitiesSoldInPast3Months>
        <securitiesSoldInPast3Months>
            <sellerDetails>
                <name>GREYLOCK 15 PRINCIPALS LP</name>
                <address>
                    <ns2:street1>1654 SMALLMAN ST.</ns2:street1>
                    <ns2:city>Pittsburgh</ns2:city>
                    <ns2:stateOrCountry>PA</ns2:stateOrCountry>
                    <ns2:zipCode>15222</ns2:zipCode>
                </address>
            </sellerDetails>
            <securitiesClassTitle>Common</securitiesClassTitle>
            <saleDate>11/08/2024</saleDate>
            <amountOfSecuritiesSold>41486</amountOfSecuritiesSold>
            <grossProceeds>229782.66</grossProceeds>
        </securitiesSoldInPast3Months>
        <securitiesSoldInPast3Months>
            <sellerDetails>
                <name>GREYLOCK 15 LIMITED PARTNERSHIP</name>
                <address>
                    <ns2:street1>1654 SMALLMAN ST.</ns2:street1>
                    <ns2:city>Pittsburgh</ns2:city>
                    <ns2:stateOrCountry>PA</ns2:stateOrCountry>
                    <ns2:zipCode>15222</ns2:zipCode>
                </address>
            </sellerDetails>
            <securitiesClassTitle>Common</securitiesClassTitle>
            <saleDate>11/08/2024</saleDate>
            <amountOfSecuritiesSold>746741</amountOfSecuritiesSold>
            <grossProceeds>4136049.05</grossProceeds>
        </securitiesSoldInPast3Months>
        <securitiesSoldInPast3Months>
            <sellerDetails>
                <name>GREYLOCK 15 PRINCIPALS LP</name>
                <address>
                    <ns2:street1>1654 SMALLMAN ST.</ns2:street1>
                    <ns2:city>Pittsburgh</ns2:city>
                    <ns2:stateOrCountry>PA</ns2:stateOrCountry>
                    <ns2:zipCode>15222</ns2:zipCode>
                </address>
            </sellerDetails>
            <securitiesClassTitle>Common</securitiesClassTitle>
            <saleDate>11/07/2024</saleDate>
            <amountOfSecuritiesSold>30000</amountOfSecuritiesSold>
            <grossProceeds>166044.00</grossProceeds>
        </securitiesSoldInPast3Months>
        <securitiesSoldInPast3Months>
            <sellerDetails>
                <name>GREYLOCK 15-A LIMITED PARTNERSHIP</name>
                <address>
                    <ns2:street1>1654 SMALLMAN ST.</ns2:street1>
                    <ns2:city>Pittsburgh</ns2:city>
                    <ns2:stateOrCountry>PA</ns2:stateOrCountry>
                    <ns2:zipCode>15222</ns2:zipCode>
                </address>
            </sellerDetails>
            <securitiesClassTitle>Common</securitiesClassTitle>
            <saleDate>11/07/2024</saleDate>
            <amountOfSecuritiesSold>30000</amountOfSecuritiesSold>
            <grossProceeds>166044.00</grossProceeds>
        </securitiesSoldInPast3Months>
        <securitiesSoldInPast3Months>
            <sellerDetails>
                <name>GREYLOCK 15 LIMITED PARTNERSHIP</name>
                <address>
                    <ns2:street1>1654 SMALLMAN ST.</ns2:street1>
                    <ns2:city>Pittsburgh</ns2:city>
                    <ns2:stateOrCountry>PA</ns2:stateOrCountry>
                    <ns2:zipCode>15222</ns2:zipCode>
                </address>
            </sellerDetails>
            <securitiesClassTitle>Common</securitiesClassTitle>
            <saleDate>11/07/2024</saleDate>
            <amountOfSecuritiesSold>540000</amountOfSecuritiesSold>
            <grossProceeds>2988792.00</grossProceeds>
        </securitiesSoldInPast3Months>
        <securitiesSoldInPast3Months>
            <sellerDetails>
                <name>GREYLOCK 15-A LIMITED PARTNERSHIP</name>
                <address>
                    <ns2:street1>1654 SMALLMAN ST.</ns2:street1>
                    <ns2:city>Pittsburgh</ns2:city>
                    <ns2:stateOrCountry>PA</ns2:stateOrCountry>
                    <ns2:zipCode>15222</ns2:zipCode>
                </address>
            </sellerDetails>
            <securitiesClassTitle>Common</securitiesClassTitle>
            <saleDate>11/06/2024</saleDate>
            <amountOfSecuritiesSold>175000</amountOfSecuritiesSold>
            <grossProceeds>976972.50</grossProceeds>
        </securitiesSoldInPast3Months>
        <securitiesSoldInPast3Months>
            <sellerDetails>
                <name>GREYLOCK 15 PRINCIPALS LP</name>
                <address>
                    <ns2:street1>1654 SMALLMAN ST.</ns2:street1>
                    <ns2:city>Pittsburgh</ns2:city>
                    <ns2:stateOrCountry>PA</ns2:stateOrCountry>
                    <ns2:zipCode>15222</ns2:zipCode>
                </address>
            </sellerDetails>
            <securitiesClassTitle>Common</securitiesClassTitle>
            <saleDate>11/06/2024</saleDate>
            <amountOfSecuritiesSold>175001</amountOfSecuritiesSold>
            <grossProceeds>976978.08</grossProceeds>
        </securitiesSoldInPast3Months>
        <securitiesSoldInPast3Months>
            <sellerDetails>
                <name>GREYLOCK 15 LIMITED PARTNERSHIP</name>
                <address>
                    <ns2:street1>1654 SMALLMAN ST.</ns2:street1>
                    <ns2:city>Pittsburgh</ns2:city>
                    <ns2:stateOrCountry>PA</ns2:stateOrCountry>
                    <ns2:zipCode>15222</ns2:zipCode>
                </address>
            </sellerDetails>
            <securitiesClassTitle>Common</securitiesClassTitle>
            <saleDate>11/06/2024</saleDate>
            <amountOfSecuritiesSold>3149999</amountOfSecuritiesSold>
            <grossProceeds>17585499.42</grossProceeds>
        </securitiesSoldInPast3Months>
        <securitiesSoldInPast3Months>
            <sellerDetails>
                <name>GREYLOCK 15-A LIMITED PARTNERSHIP</name>
                <address>
                    <ns2:street1>1654 SMALLMAN ST.</ns2:street1>
                    <ns2:city>Pittsburgh</ns2:city>
                    <ns2:stateOrCountry>PA</ns2:stateOrCountry>
                    <ns2:zipCode>15222</ns2:zipCode>
                </address>
            </sellerDetails>
            <securitiesClassTitle>Common</securitiesClassTitle>
            <saleDate>11/05/2024</saleDate>
            <amountOfSecuritiesSold>115000</amountOfSecuritiesSold>
            <grossProceeds>595021.50</grossProceeds>
        </securitiesSoldInPast3Months>
        <securitiesSoldInPast3Months>
            <sellerDetails>
                <name>GREYLOCK 15 PRINCIPALS LP</name>
                <address>
                    <ns2:street1>1654 SMALLMAN ST.</ns2:street1>
                    <ns2:city>Pittsburgh</ns2:city>
                    <ns2:stateOrCountry>PA</ns2:stateOrCountry>
                    <ns2:zipCode>15222</ns2:zipCode>
                </address>
            </sellerDetails>
            <securitiesClassTitle>Common</securitiesClassTitle>
            <saleDate>11/05/2024</saleDate>
            <amountOfSecuritiesSold>115000</amountOfSecuritiesSold>
            <grossProceeds>595021.50</grossProceeds>
        </securitiesSoldInPast3Months>
        <securitiesSoldInPast3Months>
            <sellerDetails>
                <name>GREYLOCK 15 LIMITED PARTNERSHIP</name>
                <address>
                    <ns2:street1>1654 SMALLMAN ST.</ns2:street1>
                    <ns2:city>Pittsburgh</ns2:city>
                    <ns2:stateOrCountry>PA</ns2:stateOrCountry>
                    <ns2:zipCode>15222</ns2:zipCode>
                </address>
            </sellerDetails>
            <securitiesClassTitle>Common</securitiesClassTitle>
            <saleDate>11/05/2024</saleDate>
            <amountOfSecuritiesSold>2070000</amountOfSecuritiesSold>
            <grossProceeds>10710387.00</grossProceeds>
        </securitiesSoldInPast3Months>
        <securitiesSoldInPast3Months>
            <sellerDetails>
                <name>GREYLOCK 15-A LIMITED PARTNERSHIP</name>
                <address>
                    <ns2:street1>1654 SMALLMAN ST.</ns2:street1>
                    <ns2:city>Pittsburgh</ns2:city>
                    <ns2:stateOrCountry>PA</ns2:stateOrCountry>
                    <ns2:zipCode>15222</ns2:zipCode>
                </address>
            </sellerDetails>
            <securitiesClassTitle>Common</securitiesClassTitle>
            <saleDate>11/04/2024</saleDate>
            <amountOfSecuritiesSold>69694</amountOfSecuritiesSold>
            <grossProceeds>379832.30</grossProceeds>
        </securitiesSoldInPast3Months>
        <securitiesSoldInPast3Months>
            <sellerDetails>
                <name>GREYLOCK 15 PRINCIPALS LP</name>
                <address>
                    <ns2:street1>1654 SMALLMAN ST.</ns2:street1>
                    <ns2:city>Pittsburgh</ns2:city>
                    <ns2:stateOrCountry>PA</ns2:stateOrCountry>
                    <ns2:zipCode>15222</ns2:zipCode>
                </address>
            </sellerDetails>
            <securitiesClassTitle>Common</securitiesClassTitle>
            <saleDate>11/04/2024</saleDate>
            <amountOfSecuritiesSold>69694</amountOfSecuritiesSold>
            <grossProceeds>379832.30</grossProceeds>
        </securitiesSoldInPast3Months>
        <securitiesSoldInPast3Months>
            <sellerDetails>
                <name>GREYLOCK 15 LIMITED PARTNERSHIP</name>
                <address>
                    <ns2:street1>1654 SMALLMAN ST.</ns2:street1>
                    <ns2:city>Pittsburgh</ns2:city>
                    <ns2:stateOrCountry>PA</ns2:stateOrCountry>
                    <ns2:zipCode>15222</ns2:zipCode>
                </address>
            </sellerDetails>
            <securitiesClassTitle>Common</securitiesClassTitle>
            <saleDate>11/04/2024</saleDate>
            <amountOfSecuritiesSold>1254486</amountOfSecuritiesSold>
            <grossProceeds>6836948.70</grossProceeds>
        </securitiesSoldInPast3Months>
        <remarks>Sales that were executed on November 11, 2024 are being reported on this Form 144 filed on November 12, 2024 given the EDGAR system was not accepting filings on November 11, 2024 in observance of the federal holiday.</remarks>
        <noticeSignature>
            <noticeDate>11/11/2024</noticeDate>
            <planAdoptionDates/>
            <signature>/s/ Adam J Amero</signature>
        </noticeSignature>
    </formData>
</edgarSubmission>
[{"type": "144", "sequence": "1", "filename": "primary_doc.xml", "secsgml_size_bytes": 14125}]
144
0001687183
XXXXXXXX
LIVE
0001828108
AURORA INNOVATION, INC.
001-40216
1654 SMALLMAN ST.
Pittsburgh
PA
15222
8885839506
GREYLOCK 15 LIMITED PARTNERSHIP
Director
Common
Morgan Stanley Smith Barney LLC Executive Financial Services
1 New York Plaza
8th Floor
New York
NY
10004
771117
4229885.19
1351555176
11/11/2024
NASDAQ
Common
11/04/2021
Merger/Acquisition
Issuer
N
12687274
11/04/2021
Stock Swap
N
GREYLOCK 15-A LIMITED PARTNERSHIP
1654 SMALLMAN ST.
Pittsburgh
PA
15222
Common
11/08/2024
41486
229782.66
GREYLOCK 15 PRINCIPALS LP
1654 SMALLMAN ST.
Pittsburgh
PA
15222
Common
11/08/2024
41486
229782.66
GREYLOCK 15 LIMITED PARTNERSHIP
1654 SMALLMAN ST.
Pittsburgh
PA
15222
Common
11/08/2024
746741
4136049.05
GREYLOCK 15 PRINCIPALS LP
1654 SMALLMAN ST.
Pittsburgh
PA
15222
Common
11/07/2024
30000
166044.00
GREYLOCK 15-A LIMITED PARTNERSHIP
1654 SMALLMAN ST.
Pittsburgh
PA
15222
Common
11/07/2024
30000
166044.00
GREYLOCK 15 LIMITED PARTNERSHIP
1654 SMALLMAN ST.
Pittsburgh
PA
15222
Common
11/07/2024
540000
2988792.00
GREYLOCK 15-A LIMITED PARTNERSHIP
1654 SMALLMAN ST.
Pittsburgh
PA
15222
Common
11/06/2024
175000
976972.50
GREYLOCK 15 PRINCIPALS LP
1654 SMALLMAN ST.
Pittsburgh
PA
15222
Common
11/06/2024
175001
976978.08
GREYLOCK 15 LIMITED PARTNERSHIP
1654 SMALLMAN ST.
Pittsburgh
PA
15222
Common
11/06/2024
3149999
17585499.42
GREYLOCK 15-A LIMITED PARTNERSHIP
1654 SMALLMAN ST.
Pittsburgh
PA
15222
Common
11/05/2024
115000
595021.50
GREYLOCK 15 PRINCIPALS LP
1654 SMALLMAN ST.
Pittsburgh
PA
15222
Common
11/05/2024
115000
595021.50
GREYLOCK 15 LIMITED PARTNERSHIP
1654 SMALLMAN ST.
Pittsburgh
PA
15222
Common
11/05/2024
2070000
10710387.00
GREYLOCK 15-A LIMITED PARTNERSHIP
1654 SMALLMAN ST.
Pittsburgh
PA
15222
Common
11/04/2024
69694
379832.30
GREYLOCK 15 PRINCIPALS LP
1654 SMALLMAN ST.
Pittsburgh
PA
15222
Common
11/04/2024
69694
379832.30
GREYLOCK 15 LIMITED PARTNERSHIP
1654 SMALLMAN ST.
Pittsburgh
PA
15222
Common
11/04/2024
1254486
6836948.70
Sales that were executed on November 11, 2024 are being reported on this Form 144 filed on November 12, 2024 given the EDGAR system was not accepting filings on November 11, 2024 in observance of the federal holiday.
11/11/2024
/s/ Adam J Amero