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Exhibit 23.1

Consent of Independent Registered Public Accounting Firm

We consent to the incorporation by reference in the registration statements (No. 333-264030, 333-260943 and 333-270139) on Form S-8 and the registration statement (No. 333-271781) on Form S-3 of our reports dated February 26, 2024, with respect to the consolidated financial statements of Rivian Automotive, Inc. and the effectiveness of internal control over financial reporting.

/s/ KPMG LLP

Detroit, Michigan

February 26, 2024