<?xml version="1.0" encoding="UTF-8"?>

<!--XBRL Document Created with the Workiva Platform-->
<!--Copyright 2026 Workiva-->
<!--r:019ed274-a88b-725f-996b-14e9a62c86f4,g:c0bf620f-9bf5-4045-886a-9dc2a3c38de4-->
<link:linkbase xmlns:link="http://www.xbrl.org/2003/linkbase" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="http://www.xbrl.org/2003/linkbase http://www.xbrl.org/2003/xbrl-linkbase-2003-12-31.xsd">
  <link:roleRef roleURI="http://serverobotics.com/role/Cover" xlink:type="simple" xlink:href="serv-20260617.xsd#Cover"/>
  <link:presentationLink xlink:role="http://serverobotics.com/role/Cover" xlink:type="extended">
    <link:loc xlink:type="locator" xlink:label="loc_dei_CoverAbstract_019ed274-a88b-7746-a8ac-0163de492391" xlink:href="https://xbrl.sec.gov/dei/2026/dei-2026.xsd#dei_CoverAbstract"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_DocumentType_019ed274-a88b-7b0e-8fc0-2ef522a025c2" xlink:href="https://xbrl.sec.gov/dei/2026/dei-2026.xsd#dei_DocumentType"/>
    <link:presentationArc order="1" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019ed274-a88b-7746-a8ac-0163de492391" xlink:to="loc_dei_DocumentType_019ed274-a88b-7b0e-8fc0-2ef522a025c2" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_DocumentPeriodEndDate_019ed274-a88b-7169-9bd4-effd49e096a0" xlink:href="https://xbrl.sec.gov/dei/2026/dei-2026.xsd#dei_DocumentPeriodEndDate"/>
    <link:presentationArc order="2" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019ed274-a88b-7746-a8ac-0163de492391" xlink:to="loc_dei_DocumentPeriodEndDate_019ed274-a88b-7169-9bd4-effd49e096a0" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_EntityRegistrantName_019ed274-a88b-7d85-9540-b4520ac73de1" xlink:href="https://xbrl.sec.gov/dei/2026/dei-2026.xsd#dei_EntityRegistrantName"/>
    <link:presentationArc order="3" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019ed274-a88b-7746-a8ac-0163de492391" xlink:to="loc_dei_EntityRegistrantName_019ed274-a88b-7d85-9540-b4520ac73de1" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_EntityIncorporationStateCountryCode_019ed274-a88b-7d3a-a64b-2b61121c60c6" xlink:href="https://xbrl.sec.gov/dei/2026/dei-2026.xsd#dei_EntityIncorporationStateCountryCode"/>
    <link:presentationArc order="4" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019ed274-a88b-7746-a8ac-0163de492391" xlink:to="loc_dei_EntityIncorporationStateCountryCode_019ed274-a88b-7d3a-a64b-2b61121c60c6" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_EntityFileNumber_019ed274-a88b-7b57-a963-c29383ca2817" xlink:href="https://xbrl.sec.gov/dei/2026/dei-2026.xsd#dei_EntityFileNumber"/>
    <link:presentationArc order="5" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019ed274-a88b-7746-a8ac-0163de492391" xlink:to="loc_dei_EntityFileNumber_019ed274-a88b-7b57-a963-c29383ca2817" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_EntityTaxIdentificationNumber_019ed274-a88b-73d8-9189-cfe14e6fdb8f" xlink:href="https://xbrl.sec.gov/dei/2026/dei-2026.xsd#dei_EntityTaxIdentificationNumber"/>
    <link:presentationArc order="6" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019ed274-a88b-7746-a8ac-0163de492391" xlink:to="loc_dei_EntityTaxIdentificationNumber_019ed274-a88b-73d8-9189-cfe14e6fdb8f" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_EntityAddressAddressLine1_019ed274-a88b-7774-8c87-681d42f4460d" xlink:href="https://xbrl.sec.gov/dei/2026/dei-2026.xsd#dei_EntityAddressAddressLine1"/>
    <link:presentationArc order="7" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019ed274-a88b-7746-a8ac-0163de492391" xlink:to="loc_dei_EntityAddressAddressLine1_019ed274-a88b-7774-8c87-681d42f4460d" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_EntityAddressCityOrTown_019ed274-a88b-788b-b784-8591ce9b1462" xlink:href="https://xbrl.sec.gov/dei/2026/dei-2026.xsd#dei_EntityAddressCityOrTown"/>
    <link:presentationArc order="8" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019ed274-a88b-7746-a8ac-0163de492391" xlink:to="loc_dei_EntityAddressCityOrTown_019ed274-a88b-788b-b784-8591ce9b1462" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_EntityAddressStateOrProvince_019ed274-a88b-7f92-9b27-7ac6365a37f6" xlink:href="https://xbrl.sec.gov/dei/2026/dei-2026.xsd#dei_EntityAddressStateOrProvince"/>
    <link:presentationArc order="9" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019ed274-a88b-7746-a8ac-0163de492391" xlink:to="loc_dei_EntityAddressStateOrProvince_019ed274-a88b-7f92-9b27-7ac6365a37f6" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_EntityAddressPostalZipCode_019ed274-a88b-79a0-8ea0-14bfa8da294c" xlink:href="https://xbrl.sec.gov/dei/2026/dei-2026.xsd#dei_EntityAddressPostalZipCode"/>
    <link:presentationArc order="10" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019ed274-a88b-7746-a8ac-0163de492391" xlink:to="loc_dei_EntityAddressPostalZipCode_019ed274-a88b-79a0-8ea0-14bfa8da294c" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_CityAreaCode_019ed274-a88b-7870-a7ef-d3001a9ed2ac" xlink:href="https://xbrl.sec.gov/dei/2026/dei-2026.xsd#dei_CityAreaCode"/>
    <link:presentationArc order="11" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019ed274-a88b-7746-a8ac-0163de492391" xlink:to="loc_dei_CityAreaCode_019ed274-a88b-7870-a7ef-d3001a9ed2ac" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_LocalPhoneNumber_019ed274-a88b-758c-a2e7-9a26e84b1222" xlink:href="https://xbrl.sec.gov/dei/2026/dei-2026.xsd#dei_LocalPhoneNumber"/>
    <link:presentationArc order="12" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019ed274-a88b-7746-a8ac-0163de492391" xlink:to="loc_dei_LocalPhoneNumber_019ed274-a88b-758c-a2e7-9a26e84b1222" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_WrittenCommunications_019ed274-a88b-7ffa-8a82-b25e968b3ac3" xlink:href="https://xbrl.sec.gov/dei/2026/dei-2026.xsd#dei_WrittenCommunications"/>
    <link:presentationArc order="13" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019ed274-a88b-7746-a8ac-0163de492391" xlink:to="loc_dei_WrittenCommunications_019ed274-a88b-7ffa-8a82-b25e968b3ac3" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_SolicitingMaterial_019ed274-a88b-768b-9ed2-5f9bc0af3425" xlink:href="https://xbrl.sec.gov/dei/2026/dei-2026.xsd#dei_SolicitingMaterial"/>
    <link:presentationArc order="14" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019ed274-a88b-7746-a8ac-0163de492391" xlink:to="loc_dei_SolicitingMaterial_019ed274-a88b-768b-9ed2-5f9bc0af3425" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_PreCommencementTenderOffer_019ed274-a88b-7911-8cb0-883b25a6ccc2" xlink:href="https://xbrl.sec.gov/dei/2026/dei-2026.xsd#dei_PreCommencementTenderOffer"/>
    <link:presentationArc order="15" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019ed274-a88b-7746-a8ac-0163de492391" xlink:to="loc_dei_PreCommencementTenderOffer_019ed274-a88b-7911-8cb0-883b25a6ccc2" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_PreCommencementIssuerTenderOffer_019ed274-a88b-7857-86d1-22c0641d60fc" xlink:href="https://xbrl.sec.gov/dei/2026/dei-2026.xsd#dei_PreCommencementIssuerTenderOffer"/>
    <link:presentationArc order="16" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019ed274-a88b-7746-a8ac-0163de492391" xlink:to="loc_dei_PreCommencementIssuerTenderOffer_019ed274-a88b-7857-86d1-22c0641d60fc" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_Security12bTitle_019ed274-a88b-72cb-bdde-c012eb0f0415" xlink:href="https://xbrl.sec.gov/dei/2026/dei-2026.xsd#dei_Security12bTitle"/>
    <link:presentationArc order="17" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019ed274-a88b-7746-a8ac-0163de492391" xlink:to="loc_dei_Security12bTitle_019ed274-a88b-72cb-bdde-c012eb0f0415" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_TradingSymbol_019ed274-a88b-7554-a083-cb0e21ad37c2" xlink:href="https://xbrl.sec.gov/dei/2026/dei-2026.xsd#dei_TradingSymbol"/>
    <link:presentationArc order="18" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019ed274-a88b-7746-a8ac-0163de492391" xlink:to="loc_dei_TradingSymbol_019ed274-a88b-7554-a083-cb0e21ad37c2" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_SecurityExchangeName_019ed274-a88b-73a1-b3b0-032ef898aceb" xlink:href="https://xbrl.sec.gov/dei/2026/dei-2026.xsd#dei_SecurityExchangeName"/>
    <link:presentationArc order="19" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019ed274-a88b-7746-a8ac-0163de492391" xlink:to="loc_dei_SecurityExchangeName_019ed274-a88b-73a1-b3b0-032ef898aceb" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_EntityEmergingGrowthCompany_019ed274-a88b-7be7-bd97-3c70a5c102f5" xlink:href="https://xbrl.sec.gov/dei/2026/dei-2026.xsd#dei_EntityEmergingGrowthCompany"/>
    <link:presentationArc order="20" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019ed274-a88b-7746-a8ac-0163de492391" xlink:to="loc_dei_EntityEmergingGrowthCompany_019ed274-a88b-7be7-bd97-3c70a5c102f5" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_EntityExTransitionPeriod_019ed274-a88b-7110-a8c7-202c2243156f" xlink:href="https://xbrl.sec.gov/dei/2026/dei-2026.xsd#dei_EntityExTransitionPeriod"/>
    <link:presentationArc order="21" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019ed274-a88b-7746-a8ac-0163de492391" xlink:to="loc_dei_EntityExTransitionPeriod_019ed274-a88b-7110-a8c7-202c2243156f" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_AmendmentFlag_019ed274-a88b-70ae-94a5-51cacf38502b" xlink:href="https://xbrl.sec.gov/dei/2026/dei-2026.xsd#dei_AmendmentFlag"/>
    <link:presentationArc order="22" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019ed274-a88b-7746-a8ac-0163de492391" xlink:to="loc_dei_AmendmentFlag_019ed274-a88b-70ae-94a5-51cacf38502b" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_EntityCentralIndexKey_019ed274-a88b-74e0-b0c3-8b76815a8bb4" xlink:href="https://xbrl.sec.gov/dei/2026/dei-2026.xsd#dei_EntityCentralIndexKey"/>
    <link:presentationArc order="23" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019ed274-a88b-7746-a8ac-0163de492391" xlink:to="loc_dei_EntityCentralIndexKey_019ed274-a88b-74e0-b0c3-8b76815a8bb4" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
  </link:presentationLink>
</link:linkbase>
