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Services will be initially limited to the city of Sendai in Miyagi prefecture, the money losing delivery firm told reporters, in a step that follows its expansion to Canada and Australia.
SoftBank already backs some of the largest delivery services in Japan, such as Uber Eats from Uber and Demae-can.
Last month, DoorDash raised its forecast for annual gross order value, as stimulus checks helped keep food delivery demand resilient in the first quarter, even as vaccinations and an easing of curbs encouraged dining-out again.
DoorDash, which has also branched out into delivery from grocery and convenience stores last year, reported a near three-fold jump in quarterly revenue to $1.08 billion.
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The company has seen a surge in order volumes during the pandemic as consumers hesitant to step out order essential items by telephone.