<SEC-DOCUMENT>0001828108-26-000030.txt : 20260330
<SEC-HEADER>0001828108-26-000030.hdr.sgml : 20260330
<ACCEPTANCE-DATETIME>20260330175734
ACCESSION NUMBER:		0001828108-26-000030
CONFORMED SUBMISSION TYPE:	4
PUBLIC DOCUMENT COUNT:		1
CONFORMED PERIOD OF REPORT:	20260323
FILED AS OF DATE:		20260330
DATE AS OF CHANGE:		20260330

REPORTING-OWNER:	

	OWNER DATA:	
		COMPANY CONFORMED NAME:			Fisher Ossa
		CENTRAL INDEX KEY:			0001609637
		ORGANIZATION NAME:           	

	FILING VALUES:
		FORM TYPE:		4
		SEC ACT:		1934 Act
		SEC FILE NUMBER:	001-40216
		FILM NUMBER:		26814549

	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]
		ORGANIZATION NAME:           	06 Technology
		EIN:				981562265
		STATE OF INCORPORATION:			DE
		FISCAL YEAR END:			1231

	BUSINESS ADDRESS:	
		STREET 1:		1654 SMALLMAN ST.
		CITY:			PITTSBURGH
		STATE:			PA
		ZIP:			15222
		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>4
<SEQUENCE>1
<FILENAME>wk-form4_1774906611.xml
<DESCRIPTION>FORM 4
<TEXT>
<XML>
<?xml version="1.0"?>
<ownershipDocument>

    <schemaVersion>X0609</schemaVersion>

    <documentType>4</documentType>

    <periodOfReport>2026-03-23</periodOfReport>

    <notSubjectToSection16>0</notSubjectToSection16>

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

    <reportingOwner>
        <reportingOwnerId>
            <rptOwnerCik>0001609637</rptOwnerCik>
            <rptOwnerName>Fisher Ossa</rptOwnerName>
        </reportingOwnerId>
        <reportingOwnerAddress>
            <rptOwnerNonUSAddressFlag>false</rptOwnerNonUSAddressFlag>
            <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>President</officerTitle>
        </reportingOwnerRelationship>
    </reportingOwner>

    <aff10b5One>0</aff10b5One>

    <nonDerivativeTable>
        <nonDerivativeTransaction>
            <securityTitle>
                <value>Class A Common Stock</value>
            </securityTitle>
            <transactionDate>
                <value>2026-03-23</value>
            </transactionDate>
            <transactionCoding>
                <transactionFormType>4</transactionFormType>
                <transactionCode>A</transactionCode>
                <equitySwapInvolved>0</equitySwapInvolved>
            </transactionCoding>
            <transactionAmounts>
                <transactionShares>
                    <value>436920</value>
                    <footnoteId id="F1"/>
                </transactionShares>
                <transactionPricePerShare>
                    <value>0</value>
                </transactionPricePerShare>
                <transactionAcquiredDisposedCode>
                    <value>A</value>
                </transactionAcquiredDisposedCode>
            </transactionAmounts>
            <postTransactionAmounts>
                <sharesOwnedFollowingTransaction>
                    <value>2228687</value>
                </sharesOwnedFollowingTransaction>
            </postTransactionAmounts>
            <ownershipNature>
                <directOrIndirectOwnership>
                    <value>D</value>
                </directOrIndirectOwnership>
            </ownershipNature>
        </nonDerivativeTransaction>
    </nonDerivativeTable>

    <derivativeTable></derivativeTable>

    <footnotes>
        <footnote id="F1">The reported securities are represented by restricted stock units (&quot;RSUs&quot;). Each RSU represents a contingent right to receive one share of Issuer's Class A Common Stock. 1/16 of the RSUs will be scheduled to vest on each of Issuer's quarterly vesting dates following February 20, 2026, rounding down to the nearest whole share, subject to the reporting person's continued service through each such date.</footnote>
    </footnotes>

    <remarks></remarks>

    <ownerSignature>
        <signatureName>/s/ Yijun Han, as Attorney-in-Fact for Ossa Fisher</signatureName>
        <signatureDate>2026-03-30</signatureDate>
    </ownerSignature>
</ownershipDocument>
</XML>
</TEXT>
</DOCUMENT>
</SEC-DOCUMENT>
