PITTSBURGH—A pilot program that allowed Uber Technologies Inc. to launch its first self-driving cars in this former steel town has hit a road bump.

It isn’t about regulation, which steered Uber’s driverless program out of San Francisco. Nor is it about safety, which last month led the ride-hailing company to temporarily suspend its self-driving testing after an accident in Arizona. Here, some top officials say Uber isn’t giving back enough to the community.

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