Tesla is hiring test drivers in Queens, New York for its robotaxi program, but the company hasn’t applied for the state permits required for autonomous vehicle trials.

The lawsuit comes after the public testing phase for Tesla Robotaxis in Austin, TX. Videos from participants in the Robotaxi Pilot Program showed vehicles exhibiting alarming behaviors, including dropping off passengers in the middle of intersections and driving into opposing lanes.

As Tesla looks to expand its autonomous robotaxi service, it is taking early steps to test its software in the country’s most populous city.