<SEC-DOCUMENT>0001828108-22-000132.txt : 20221104
<SEC-HEADER>0001828108-22-000132.hdr.sgml : 20221104
<ACCEPTANCE-DATETIME>20221104162648
ACCESSION NUMBER:		0001828108-22-000132
CONFORMED SUBMISSION TYPE:	3
PUBLIC DOCUMENT COUNT:		2
CONFORMED PERIOD OF REPORT:	20221027
FILED AS OF DATE:		20221104
DATE AS OF CHANGE:		20221104

REPORTING-OWNER:	

	OWNER DATA:	
		COMPANY CONFORMED NAME:			Shenai Nolan
		CENTRAL INDEX KEY:			0001953472

	FILING VALUES:
		FORM TYPE:		3
		SEC ACT:		1934 Act
		SEC FILE NUMBER:	001-40216
		FILM NUMBER:		221362654

	MAIL ADDRESS:	
		STREET 1:		1654 SMALLMAN ST,
		CITY:			PITTSBURGH
		STATE:			PA
		ZIP:			15222

ISSUER:		

	COMPANY DATA:	
		COMPANY CONFORMED NAME:			Aurora Innovation, Inc.
		CENTRAL INDEX KEY:			0001828108
		STANDARD INDUSTRIAL CLASSIFICATION:	SERVICES-COMPUTER INTEGRATED SYSTEMS DESIGN [7373]
		IRS NUMBER:				981562265
		FISCAL YEAR END:			1231

	BUSINESS ADDRESS:	
		STREET 1:		50 33RD ST
		CITY:			PITTSBURGH
		STATE:			PA
		ZIP:			15201
		BUSINESS PHONE:		(888) 583-9506

	MAIL ADDRESS:	
		STREET 1:		50 33RD ST
		CITY:			PITTSBURGH
		STATE:			PA
		ZIP:			15201

	FORMER COMPANY:	
		FORMER CONFORMED NAME:	Reinvent Technology Partners Y
		DATE OF NAME CHANGE:	20201210

	FORMER COMPANY:	
		FORMER CONFORMED NAME:	Reinvent Technology Partners C
		DATE OF NAME CHANGE:	20201013
</SEC-HEADER>
<DOCUMENT>
<TYPE>3
<SEQUENCE>1
<FILENAME>wf-form3_166759358598470.xml
<DESCRIPTION>FORM 3
<TEXT>
<XML>
<?xml version="1.0"?>
<ownershipDocument>

    <schemaVersion>X0206</schemaVersion>

    <documentType>3</documentType>

    <periodOfReport>2022-10-27</periodOfReport>

    <noSecuritiesOwned>0</noSecuritiesOwned>

    <issuer>
        <issuerCik>0001828108</issuerCik>
        <issuerName>Aurora Innovation, Inc.</issuerName>
        <issuerTradingSymbol>AUR</issuerTradingSymbol>
    </issuer>

    <reportingOwner>
        <reportingOwnerId>
            <rptOwnerCik>0001953472</rptOwnerCik>
            <rptOwnerName>Shenai Nolan</rptOwnerName>
        </reportingOwnerId>
        <reportingOwnerAddress>
            <rptOwnerStreet1>C/O AURORA INNOVATION, INC.</rptOwnerStreet1>
            <rptOwnerStreet2>1654 SMALLMAN STREET</rptOwnerStreet2>
            <rptOwnerCity>PITTSBURGH</rptOwnerCity>
            <rptOwnerState>PA</rptOwnerState>
            <rptOwnerZipCode>15222</rptOwnerZipCode>
            <rptOwnerStateDescription></rptOwnerStateDescription>
        </reportingOwnerAddress>
        <reportingOwnerRelationship>
            <isDirector>0</isDirector>
            <isOfficer>1</isOfficer>
            <isTenPercentOwner>0</isTenPercentOwner>
            <isOther>0</isOther>
            <officerTitle>General Counsel and Secretary</officerTitle>
            <otherText></otherText>
        </reportingOwnerRelationship>
    </reportingOwner>

    <nonDerivativeTable>
        <nonDerivativeHolding>
            <securityTitle>
                <value>Class A Common Stock</value>
            </securityTitle>
            <postTransactionAmounts>
                <sharesOwnedFollowingTransaction>
                    <value>109356</value>
                    <footnoteId id="F1"/>
                </sharesOwnedFollowingTransaction>
            </postTransactionAmounts>
            <ownershipNature>
                <directOrIndirectOwnership>
                    <value>D</value>
                </directOrIndirectOwnership>
            </ownershipNature>
        </nonDerivativeHolding>
    </nonDerivativeTable>

    <derivativeTable>
        <derivativeHolding>
            <securityTitle>
                <value>Stock Options (Right to Buy)</value>
            </securityTitle>
            <conversionOrExercisePrice>
                <value>3.67</value>
            </conversionOrExercisePrice>
            <exerciseDate>
                <footnoteId id="F2"/>
            </exerciseDate>
            <expirationDate>
                <value>2031-02-01</value>
            </expirationDate>
            <underlyingSecurity>
                <underlyingSecurityTitle>
                    <value>Class A Common Stock</value>
                </underlyingSecurityTitle>
                <underlyingSecurityShares>
                    <value>298490.0</value>
                </underlyingSecurityShares>
            </underlyingSecurity>
            <ownershipNature>
                <directOrIndirectOwnership>
                    <value>D</value>
                </directOrIndirectOwnership>
            </ownershipNature>
        </derivativeHolding>
        <derivativeHolding>
            <securityTitle>
                <value>Stock Options (Right to Buy)</value>
            </securityTitle>
            <conversionOrExercisePrice>
                <value>2.44</value>
            </conversionOrExercisePrice>
            <exerciseDate>
                <footnoteId id="F3"/>
            </exerciseDate>
            <expirationDate>
                <value>2032-08-09</value>
            </expirationDate>
            <underlyingSecurity>
                <underlyingSecurityTitle>
                    <value>Class A Common Stock</value>
                </underlyingSecurityTitle>
                <underlyingSecurityShares>
                    <value>54526.0</value>
                </underlyingSecurityShares>
            </underlyingSecurity>
            <ownershipNature>
                <directOrIndirectOwnership>
                    <value>D</value>
                </directOrIndirectOwnership>
            </ownershipNature>
        </derivativeHolding>
    </derivativeTable>

    <footnotes>
        <footnote id="F1">Represents (i) 4,822 shares of Class A common stock of the Issuer, (ii) 50,008 restricted stock units, each restricted stock unit representing the right to receive one share of Class A common stock of the Issuer (&quot;RSUs&quot;), which will time vest quarterly in increments of 3,572 RSUs until fully vested on February 20, 2026 and (iii) 54,526 RSUs, all of which will vest on August 20, 2023, subject in each case to the reporting person's continued service through the applicable vesting date.</footnote>
        <footnote id="F2">1/4 of the shares subject to the option vested on August 3, 2021, and 1/36 of the remaining shares subject to the option vest monthly thereafter, subject to the reporting person's continued service through the applicable vesting date.</footnote>
        <footnote id="F3">All of the shares subject to the option vest on August 20, 2023, subject to the reporting person's continued service through the vesting date.</footnote>
    </footnotes>

    <remarks>Exhibit 24 - Power of Attorney</remarks>

    <ownerSignature>
        <signatureName>/s/ Nolan Shenai</signatureName>
        <signatureDate>2022-11-04</signatureDate>
    </ownerSignature>
</ownershipDocument>
</XML>
</TEXT>
</DOCUMENT>
<DOCUMENT>
<TYPE>EX-24
<SEQUENCE>2
<FILENAME>nolanshenaipoa-section16.htm
<DESCRIPTION>NOLAN SHENAI POWER OF ATTORNEY
<TEXT>
<!-- Document created using Workiva -->
<html>
<body>
<pre>
POWER OF ATTORNEY

       The undersigned, as a Section 16 reporting person of Aurora Innovation, Inc. (the Company), hereby constitutes and appoints Jessica McBride, Mingshu Liu, Erin Brown and Jiani (Jenny) Wang, as the undersigneds true and lawful attorney-in-fact to:

1.    complete and execute Forms 3, 4 and 5 and other forms and all amendments thereto as such attorney-in-fact shall in his discretion determine to be required or advisable pursuant to Section 16 of the Securities Exchange Act of 1934 (as amended) and the rules and regulations promulgated thereunder, or any successor laws and regulations, as a consequence of the undersigneds ownership, acquisition or disposition of securities of the Company; and

2.    do all acts necessary in order to file such forms with the SEC, any securities exchange or national association, the Company and such other person or agency as the attorney-in-fact shall deem appropriate.

       The undersigned hereby ratifies and confirms all that said attorney-in-fact and agents shall do or cause to be done by virtue hereof.  The undersigned acknowledges that the foregoing attorney-in-fact, in serving in such capacity at the request of the undersigned, is not assuming, nor is the Company assuming, any of the undersigneds responsibilities to comply with Section 16 of the Securities Exchange Act of 1934 (as amended).

       This Power of Attorney shall remain in full force and effect until the undersigned is no longer required to file Forms 3, 4 and 5 with respect to the undersigneds holdings of and transactions in securities issued by the Company, unless earlier revoked by the undersigned in a signed writing delivered to the Company and the foregoing attorney-in-fact.

       IN WITNESS WHEREOF, the undersigned has caused this Power of Attorney to be executed as of this 4th day of November, 2022.


Signature: /s/ Nolan Shenai

Print Name: Nolan Shenai
















</pre>
</body>
</html>
</TEXT>
</DOCUMENT>
</SEC-DOCUMENT>
