PC-relative Address Formation
AUIPC forms a 32-bit offset by shifting the 20-bit U-immediate left by 12, sign-extends it on RV64, then adds this instruction's PC and writes rd. It can pair with JALR or loads/stores for PC-relative accesses.
The RISC-V Instruction Set Manual, Volume I: Unprivileged Architecture, version 20260120, §2.4 Integer Computational Instructions