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Tesla’s robotaxi service, touted by Elon Musk as the future of his flagging electric-car maker, launched in the company’s home city of Austin, Texas, on Sunday with about 10 vehicles and a human safety driver on board amid regulatory scrutiny of its self-driving technology.

Tesla’s self-driving taxis appeared to violate traffic laws during the company’s first day offering paid rides, with one customer capturing footage of a left turn gone wrong.