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                    <cik>0001687200</cik>
                    <ccc>XXXXXXXX</ccc>
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            <liveTestFlag>LIVE</liveTestFlag>



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    <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 PRINCIPALS LP</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>26892</noOfUnitsSold>
            <aggregateMarketValue>147459.59</aggregateMarketValue>
            <noOfUnitsOutstanding>1351555176</noOfUnitsOutstanding>
            <approxSaleDate>11/18/2024</approxSaleDate>
            <securitiesExchangeName>NASDAQ</securitiesExchangeName>
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            <acquiredDate>11/04/2021</acquiredDate>
            <natureOfAcquisitionTransaction>Merger/Acquisition</natureOfAcquisitionTransaction>
            <nameOfPersonfromWhomAcquired>Issuer</nameOfPersonfromWhomAcquired>
            <isGiftTransaction>N</isGiftTransaction>
            <amountOfSecuritiesAcquired>26892</amountOfSecuritiesAcquired>
            <paymentDate>11/04/2021</paymentDate>
            <natureOfPayment>Stock Swap</natureOfPayment>
        </securitiesToBeSold>
        <nothingToReportFlagOnSecuritiesSoldInPast3Months>N</nothingToReportFlagOnSecuritiesSoldInPast3Months>
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            <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>
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            <sellerDetails>
                <name>GREYLOCK 15 LIMITED PARTNERSHIP</name>
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                    <ns2:city>Pittsburgh</ns2:city>
                    <ns2:stateOrCountry>PA</ns2:stateOrCountry>
                    <ns2:zipCode>15222</ns2:zipCode>
                </address>
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            <sellerDetails>
                <name>GREYLOCK 15 PRINCIPALS LP</name>
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                    <ns2:stateOrCountry>PA</ns2:stateOrCountry>
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                    <ns2:stateOrCountry>PA</ns2:stateOrCountry>
                    <ns2:zipCode>15222</ns2:zipCode>
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            <sellerDetails>
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                    <ns2:stateOrCountry>PA</ns2:stateOrCountry>
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            <sellerDetails>
                <name>GREYLOCK 15-A LIMITED PARTNERSHIP</name>
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                    <ns2:stateOrCountry>PA</ns2:stateOrCountry>
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            </sellerDetails>
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            <sellerDetails>
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        <noticeSignature>
            <noticeDate>11/18/2024</noticeDate>
            <planAdoptionDates/>
            <signature>/s/ Adam J Amero</signature>
        </noticeSignature>
    </formData>
</edgarSubmission>
