Did Rivian say “Robotaxi” at Rivian?

Yes. Said at 5:13:01 PM ET, flagged live 3.02 seconds after the word.

“Advanced autonomy development across our consumer vehicles and robotaxi applications we believe autonomy is a primary product differentiator”

From Saidwire’s live log of Earnings call · Rivian. All 6 words said at this event.