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General Motors Co. blamed poor leadership for mishandling its Cruise robotaxi crisis, an admission the carmaker is hoping will help get its cars back on the roads.

A report by the law firm Quinn Emanuel, hired by GM and Cruise, outlines how executives took an adversarial approach with regulators after one of its autonomous cars struck and seriously injured a woman. Federal prosecutors are now investigating the incident, which led Cruise to halt its fleet nationwide and undercut GM Chief Executive Officer Mary Barra’s vision to transform the manufacturer from a 20th-century metal bender to a transportation company of the future.

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