<p>As autonomous vehicle technology rapidly advances, this study introduces the concept of Emotional Engagement Robotaxis (EERs), aiming to integrate emotional intelligence into autonomous robotaxis to enhance user experience and passenger emotional well-being during urban transportation. A scenario-based survey (<i>n</i> = 137) examined how user acceptance varies across four distinct levels of emotional engagement features by measuring trust, perceived usefulness, and overall attitude toward these technologies. Findings reveal that minimal emotional engagement garners the highest trust, while moderate emotional engagement is perceived as the most useful, emphasizing a balanced design approach. Significant differences were also noted between users with different prior robotaxi experience, with experienced users showing greater openness to and acceptance of emotional features. This highlights the need to educate inexperienced users about the benefits and functionalities of EERs to achieve broader acceptance. This study demonstrates the potential of EERs to improve urban mobility by enhancing emotional well-being, providing foundational insights into the psychological and emotional dimensions of user interaction with autonomous vehicles. Preliminary design guidelines are further proposed to ensure user acceptance and satisfaction, underscoring the importance of user-centered design in promoting successful adoption of EERs in future smart transportation systems.</p>