The test, limited in scope and shrouded in secrecy, is a crucial step for a company still struggling with the fallout from its founder’s foray into politics.

Tesla CEO Elon Musk said the company’s “robotaxi launch” would begin Sunday afternoon with customers paying a flat fee of $4.20, as the electric vehicle maker looks to roll out the much-anticipated service and gain a foothold in the self-driving technology race.