Amazon-owned autonomous vehicle company Zoox has announced a voluntary software recall after identifying driving behavior near intersections that could raise safety concerns, according to federal filings released Tuesday, reports Interesting Engineering.

The recall applies to 332 driverless vehicles and involves software used by Zoox robotaxis operating on public roads.

Zoox currently runs public robotaxi services in parts of San Francisco and Las Vegas, where it offers free rides in fully autonomous vehicles.

Zoox first detected the issue in late August after a robotaxi executed a wide right turn near an intersection. According to NHTSA documents, the vehicle crossed partially into the opposing lane and paused in front of oncoming traffic.

That incident prompted a broader internal review. Zoox analyzed driving data and identified 62 cases between August 26 and December 5 where vehicles crossed lane markings unnecessarily near intersections.

Zoox reported no crashes tied to the issue but acknowledged an increased risk.

Zoox said it resolved the problem through software updates issued on November 7 and again in mid-December.

The recall covers Zoox vehicles that operated on public roads between March 13 and December 18.

The company said the updated software prevents the behaviors identified during the review.

“(...) transparency and safety is foundational to Zoox, and we want to be open with the public and regulators about how we are constantly refining and improving our technology,” company said in a statement.

As autonomous services expand, regulators continue to monitor software performance closely, especially in complex urban traffic environments.