Form: S-8

Initial registration statement for securities to be offered to employees pursuant to employee benefit plans

March 11, 2022

Exhibit 23.1

Consent of Independent Registered Public Accounting Firm

We consent to the use of our report dated March 11, 2022, with respect to the consolidated financial statements of Aurora Innovation, Inc., incorporated herein by reference.

/s/ KPMG LLP

Santa Clara, California

March 11, 2022