<?xml version="1.0" encoding="UTF-8"?>

<!--XBRL Document Created with the Workiva Platform-->
<!--Copyright 2026 Workiva-->
<!--r:019e2c8e-85c8-7c44-b698-a86ed5bc3322,g:31cb6763-59a4-4b54-8eed-70b82d000345-->
<link:linkbase xmlns:link="http://www.xbrl.org/2003/linkbase" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="http://www.xbrl.org/2003/linkbase http://www.xbrl.org/2003/xbrl-linkbase-2003-12-31.xsd">
  <link:roleRef roleURI="http://aurora.tech/role/Cover" xlink:type="simple" xlink:href="aur-20260806.xsd#Cover"/>
  <link:presentationLink xlink:role="http://aurora.tech/role/Cover" xlink:type="extended">
    <link:loc xlink:type="locator" xlink:label="loc_dei_CoverAbstract_019e2c8e-85c8-7d12-ba90-830a1859532f" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_CoverAbstract"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_DocumentInformationTable_019e2c8e-85c8-7207-86dd-df6e0fe07ed7" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_DocumentInformationTable"/>
    <link:presentationArc order="1" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019e2c8e-85c8-7d12-ba90-830a1859532f" xlink:to="loc_dei_DocumentInformationTable_019e2c8e-85c8-7207-86dd-df6e0fe07ed7" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_us-gaap_StatementClassOfStockAxis_019e2c8e-85c8-7a96-a4aa-07fbe83128ef" xlink:href="https://xbrl.fasb.org/us-gaap/2025/elts/us-gaap-2025.xsd#us-gaap_StatementClassOfStockAxis"/>
    <link:presentationArc order="1" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_DocumentInformationTable_019e2c8e-85c8-7207-86dd-df6e0fe07ed7" xlink:to="loc_us-gaap_StatementClassOfStockAxis_019e2c8e-85c8-7a96-a4aa-07fbe83128ef" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_us-gaap_ClassOfStockDomain_019e2c8e-85c8-77e7-927f-87dca099f79d" xlink:href="https://xbrl.fasb.org/us-gaap/2025/elts/us-gaap-2025.xsd#us-gaap_ClassOfStockDomain"/>
    <link:presentationArc order="1" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_us-gaap_StatementClassOfStockAxis_019e2c8e-85c8-7a96-a4aa-07fbe83128ef" xlink:to="loc_us-gaap_ClassOfStockDomain_019e2c8e-85c8-77e7-927f-87dca099f79d" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_us-gaap_CommonClassAMember_019e2c8e-85c8-704e-9542-1a8f1afe3db5" xlink:href="https://xbrl.fasb.org/us-gaap/2025/elts/us-gaap-2025.xsd#us-gaap_CommonClassAMember"/>
    <link:presentationArc order="1" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_us-gaap_ClassOfStockDomain_019e2c8e-85c8-77e7-927f-87dca099f79d" xlink:to="loc_us-gaap_CommonClassAMember_019e2c8e-85c8-704e-9542-1a8f1afe3db5" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_us-gaap_WarrantMember_019e2c8e-85c8-7af2-bd34-a7a2f89a4fed" xlink:href="https://xbrl.fasb.org/us-gaap/2025/elts/us-gaap-2025.xsd#us-gaap_WarrantMember"/>
    <link:presentationArc order="2" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_us-gaap_ClassOfStockDomain_019e2c8e-85c8-77e7-927f-87dca099f79d" xlink:to="loc_us-gaap_WarrantMember_019e2c8e-85c8-7af2-bd34-a7a2f89a4fed" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_DocumentInformationLineItems_019e2c8e-85c8-741d-b111-6a8824fc6cf1" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_DocumentInformationLineItems"/>
    <link:presentationArc order="2" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_DocumentInformationTable_019e2c8e-85c8-7207-86dd-df6e0fe07ed7" xlink:to="loc_dei_DocumentInformationLineItems_019e2c8e-85c8-741d-b111-6a8824fc6cf1" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_DocumentType_019e2c8e-85c8-7f18-93b1-868775983474" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_DocumentType"/>
    <link:presentationArc order="1" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_DocumentInformationLineItems_019e2c8e-85c8-741d-b111-6a8824fc6cf1" xlink:to="loc_dei_DocumentType_019e2c8e-85c8-7f18-93b1-868775983474" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_DocumentPeriodEndDate_019e2c8e-85c8-7b87-9e03-e7db6f38c22a" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_DocumentPeriodEndDate"/>
    <link:presentationArc order="2" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_DocumentInformationLineItems_019e2c8e-85c8-741d-b111-6a8824fc6cf1" xlink:to="loc_dei_DocumentPeriodEndDate_019e2c8e-85c8-7b87-9e03-e7db6f38c22a" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_EntityRegistrantName_019e2c8e-85c8-7b44-bfd9-7ddc79af6112" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_EntityRegistrantName"/>
    <link:presentationArc order="3" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_DocumentInformationLineItems_019e2c8e-85c8-741d-b111-6a8824fc6cf1" xlink:to="loc_dei_EntityRegistrantName_019e2c8e-85c8-7b44-bfd9-7ddc79af6112" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_EntityIncorporationStateCountryCode_019e2c8e-85c8-7667-b08b-eaa205526921" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_EntityIncorporationStateCountryCode"/>
    <link:presentationArc order="4" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_DocumentInformationLineItems_019e2c8e-85c8-741d-b111-6a8824fc6cf1" xlink:to="loc_dei_EntityIncorporationStateCountryCode_019e2c8e-85c8-7667-b08b-eaa205526921" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_EntityFileNumber_019e2c8e-85c8-77e5-85a4-50b3b693d0f7" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_EntityFileNumber"/>
    <link:presentationArc order="5" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_DocumentInformationLineItems_019e2c8e-85c8-741d-b111-6a8824fc6cf1" xlink:to="loc_dei_EntityFileNumber_019e2c8e-85c8-77e5-85a4-50b3b693d0f7" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_EntityTaxIdentificationNumber_019e2c8e-85c8-771f-b516-e91c1b7a6123" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_EntityTaxIdentificationNumber"/>
    <link:presentationArc order="6" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_DocumentInformationLineItems_019e2c8e-85c8-741d-b111-6a8824fc6cf1" xlink:to="loc_dei_EntityTaxIdentificationNumber_019e2c8e-85c8-771f-b516-e91c1b7a6123" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_EntityAddressAddressLine1_019e2c8e-85c8-7794-810c-41038b9aedb0" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_EntityAddressAddressLine1"/>
    <link:presentationArc order="7" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_DocumentInformationLineItems_019e2c8e-85c8-741d-b111-6a8824fc6cf1" xlink:to="loc_dei_EntityAddressAddressLine1_019e2c8e-85c8-7794-810c-41038b9aedb0" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_EntityAddressCityOrTown_019e2c8e-85c8-787f-8a19-3de9b35505e3" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_EntityAddressCityOrTown"/>
    <link:presentationArc order="8" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_DocumentInformationLineItems_019e2c8e-85c8-741d-b111-6a8824fc6cf1" xlink:to="loc_dei_EntityAddressCityOrTown_019e2c8e-85c8-787f-8a19-3de9b35505e3" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_EntityAddressStateOrProvince_019e2c8e-85c8-79cf-a365-15506c5a58ab" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_EntityAddressStateOrProvince"/>
    <link:presentationArc order="9" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_DocumentInformationLineItems_019e2c8e-85c8-741d-b111-6a8824fc6cf1" xlink:to="loc_dei_EntityAddressStateOrProvince_019e2c8e-85c8-79cf-a365-15506c5a58ab" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_EntityAddressPostalZipCode_019e2c8e-85c8-70b8-bbbd-bb644bac0364" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_EntityAddressPostalZipCode"/>
    <link:presentationArc order="10" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_DocumentInformationLineItems_019e2c8e-85c8-741d-b111-6a8824fc6cf1" xlink:to="loc_dei_EntityAddressPostalZipCode_019e2c8e-85c8-70b8-bbbd-bb644bac0364" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_CityAreaCode_019e2c8e-85c8-70cd-9a96-0d9fe7bfd30a" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_CityAreaCode"/>
    <link:presentationArc order="11" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_DocumentInformationLineItems_019e2c8e-85c8-741d-b111-6a8824fc6cf1" xlink:to="loc_dei_CityAreaCode_019e2c8e-85c8-70cd-9a96-0d9fe7bfd30a" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_LocalPhoneNumber_019e2c8e-85c8-7984-aa3d-10ff0e700d4f" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_LocalPhoneNumber"/>
    <link:presentationArc order="12" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_DocumentInformationLineItems_019e2c8e-85c8-741d-b111-6a8824fc6cf1" xlink:to="loc_dei_LocalPhoneNumber_019e2c8e-85c8-7984-aa3d-10ff0e700d4f" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_WrittenCommunications_019e2c8e-85c8-7f04-99a7-8aee3411f8a7" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_WrittenCommunications"/>
    <link:presentationArc order="13" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_DocumentInformationLineItems_019e2c8e-85c8-741d-b111-6a8824fc6cf1" xlink:to="loc_dei_WrittenCommunications_019e2c8e-85c8-7f04-99a7-8aee3411f8a7" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_SolicitingMaterial_019e2c8e-85c8-734a-a2fe-44fb51d036d5" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_SolicitingMaterial"/>
    <link:presentationArc order="14" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_DocumentInformationLineItems_019e2c8e-85c8-741d-b111-6a8824fc6cf1" xlink:to="loc_dei_SolicitingMaterial_019e2c8e-85c8-734a-a2fe-44fb51d036d5" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_PreCommencementTenderOffer_019e2c8e-85c8-702a-8043-ec3a2da7b550" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_PreCommencementTenderOffer"/>
    <link:presentationArc order="15" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_DocumentInformationLineItems_019e2c8e-85c8-741d-b111-6a8824fc6cf1" xlink:to="loc_dei_PreCommencementTenderOffer_019e2c8e-85c8-702a-8043-ec3a2da7b550" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_PreCommencementIssuerTenderOffer_019e2c8e-85c8-75a4-97f8-7f4fd73c21f1" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_PreCommencementIssuerTenderOffer"/>
    <link:presentationArc order="16" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_DocumentInformationLineItems_019e2c8e-85c8-741d-b111-6a8824fc6cf1" xlink:to="loc_dei_PreCommencementIssuerTenderOffer_019e2c8e-85c8-75a4-97f8-7f4fd73c21f1" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_Security12bTitle_019e2c8e-85c8-7a45-8250-9ef406ceec51" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_Security12bTitle"/>
    <link:presentationArc order="17" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_DocumentInformationLineItems_019e2c8e-85c8-741d-b111-6a8824fc6cf1" xlink:to="loc_dei_Security12bTitle_019e2c8e-85c8-7a45-8250-9ef406ceec51" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_TradingSymbol_019e2c8e-85c8-71e4-8a50-c2ae2e6ef729" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_TradingSymbol"/>
    <link:presentationArc order="18" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_DocumentInformationLineItems_019e2c8e-85c8-741d-b111-6a8824fc6cf1" xlink:to="loc_dei_TradingSymbol_019e2c8e-85c8-71e4-8a50-c2ae2e6ef729" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_SecurityExchangeName_019e2c8e-85c8-7474-a18e-a37a876f1f84" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_SecurityExchangeName"/>
    <link:presentationArc order="19" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_DocumentInformationLineItems_019e2c8e-85c8-741d-b111-6a8824fc6cf1" xlink:to="loc_dei_SecurityExchangeName_019e2c8e-85c8-7474-a18e-a37a876f1f84" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_EntityEmergingGrowthCompany_019e2c8e-85c8-7a51-adb2-653b952e5f49" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_EntityEmergingGrowthCompany"/>
    <link:presentationArc order="20" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_DocumentInformationLineItems_019e2c8e-85c8-741d-b111-6a8824fc6cf1" xlink:to="loc_dei_EntityEmergingGrowthCompany_019e2c8e-85c8-7a51-adb2-653b952e5f49" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_EntityExTransitionPeriod_019e2c8e-85c8-77b0-a4df-e2ece89cde2f" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_EntityExTransitionPeriod"/>
    <link:presentationArc order="21" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_DocumentInformationLineItems_019e2c8e-85c8-741d-b111-6a8824fc6cf1" xlink:to="loc_dei_EntityExTransitionPeriod_019e2c8e-85c8-77b0-a4df-e2ece89cde2f" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_AmendmentFlag_019e2c8e-85c8-72e6-8396-7a2b41e167b7" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_AmendmentFlag"/>
    <link:presentationArc order="22" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_DocumentInformationLineItems_019e2c8e-85c8-741d-b111-6a8824fc6cf1" xlink:to="loc_dei_AmendmentFlag_019e2c8e-85c8-72e6-8396-7a2b41e167b7" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_EntityCentralIndexKey_019e2c8e-85c8-7ec5-94ad-a1d2cec3f8d8" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_EntityCentralIndexKey"/>
    <link:presentationArc order="23" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_DocumentInformationLineItems_019e2c8e-85c8-741d-b111-6a8824fc6cf1" xlink:to="loc_dei_EntityCentralIndexKey_019e2c8e-85c8-7ec5-94ad-a1d2cec3f8d8" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
  </link:presentationLink>
</link:linkbase>
