From ChatGPT,

Aurora Innovation does indeed use lidar as part of its self-driving technology stack. Rather than exclusively sourcing lidar sensors from a third-party vendor, Aurora actually acquired a lidar company (Blackmore) back in May 2019. Through that acquisition, Aurora gained Blackmore’s Frequency Modulated Continuous Wave (FMCW) lidar expertise, which they have further developed into what Aurora calls its FirstLight Lidar.