UNITED STATES

SECURITIES AND EXCHANGE COMMISSION
Washington, DC 20549

SCHEDULE 13G

Under the Securities Exchange Act of 1934

(Amendment No. 1)*

Check the appropriate box to designate the rule pursuant to which this Schedule is filed:

o Rule 13d-1(b)

x Rule 13d-1(c)

o Rule 13d-1(d)

*The remainder of this cover page shall be filled out for a reporting person’s initial filing on this form with respect to the subject class of securities, and for any subsequent amendment containing information which would alter the disclosures provided in a prior cover page.

The information required in the remainder of this cover page shall not be deemed to be “filed” for the purpose of Section 18 of the Securities Exchange Act of 1934 (“Act”) or otherwise subject to the liabilities of that section of the Act but shall be subject to all other provisions of the Act (however, see the Notes).

* Includes 293,651 shares of Class A Common Stock of the Issuer held by Toyota A.I. Ventures Fund I, L.P. Toyota Motor Corporation has voting and dispositive power over the shares of Class A Common Stock of the Issuer held by Toyota A.I. Ventures Fund I, L.P. and therefore may be deemed to be the beneficial owner of such shares of Class A Common Stock.

** The ownership information presented above represents beneficial ownership of Class A Common Stock of the Issuer as of December 31, 2022, based upon 740,447,873 shares of Class A Common Stock issued and outstanding as of October 24, 2022 (based on the Issuer’s Quarterly Report on Form 10-Q filed with the SEC on November 3, 2022).

Aurora Innovation, Inc.

215 Park Avenue, Floor 11

New York, New York 10003

Toyota Motor Corporation

1 Toyota cho, Toyota City, Aichi 471-8571 Japan

Please refer to Item 4 on the cover page for the Reporting Person.

Class A Common Stock, Par Value $0.00001 Per Share

051774107

Item 3.

Not applicable

 Item 4. Ownership:

Information with respect to the Reporting Person’s ownership as of December 31, 2022, is incorporated by reference to items (5) - (9) and (11) of the cover page for the Reporting Person.

Item 5. Ownership of Five Percent or Less of a Class.

If this statement is being filed to report the fact that as of the date hereof the reporting person has ceased to be the beneficial owner of more than five percent of the class of securities, check the following [ ].

Item 6. Ownership of More Than Five Percent on Behalf of Another Person.

Not applicable

Item 7. Identification and Classification of the Subsidiary which Acquired the Security Being Reported on by the Parent Holding Company or Control Person.

Not Applicable.

Item 8. Identification and Classification of Members of the Group.

Not Applicable.

Item 9. Notice of Dissolution of Group.

Not Applicable.

Item 10. Certification.

By signing below I certify that, to the best of my knowledge and belief, the securities referred to above were acquired and held in the ordinary course of business and were not acquired and are not held for the purpose of or with the effect of changing or influencing the control of the issuer of the securities and were not acquired and are not held in connection with or as a participant in any transaction having that purpose or effect.

SIGNATURES

After reasonable inquiry and to the best of my knowledge and belief, I certify that the information set forth in this statement is true, complete and correct.

Dated: February 14, 2023