The first-production Rivian R1T electric pickup truck in “Rivian blue” rolled off the assembly line Tuesday morning at the company’s factory in Normal, Illinois, marking a milestone more than a decade in the making for the automaker and its founder and CEO, RJ Scaringe.

The company, which started in 2009 as Mainstream Motors before adopting the Rivian name two years later, has undergone explosive growth in terms of people, backers and partners in the past few years.

Rivian operated in...

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