The company is facing legal hurdles and other obstacles before its cars can cruise the city’s streets without drivers.

Waymo said Wednesday it has applied for a permit to test its autonomous vehicles in New York City, the Alphabet company’s first step in a sticky regulatory process to bring its robotaxis to U.S.’s largest city.

Waymo is currently operating a robotaxi fleet of 1,500 vehicles in four markets: San Francisco and the Bay Area, Los Angeles, Phoenix, and Austin. It plans on launching a commercial service in Atlanta later this year, as well as Miami and Washington, DC. The company has said it will add an additional 2,000 vehicles to its fleet through 2026.