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

<!--XBRL Document Created with the Workiva Platform-->
<!--Copyright 2026 Workiva-->
<!--r:019cd908-2784-7717-8fd8-4b16c926111c,g:8d62106f-e823-4e1c-9f72-6bbd20be39c3-->
<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-20260311.xsd#Cover"/>
  <link:presentationLink xlink:role="http://serverobotics.com/role/Cover" xlink:type="extended">
    <link:loc xlink:type="locator" xlink:label="loc_dei_CoverAbstract_019cd908-2784-79e9-8e31-839d924b2993" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_CoverAbstract"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_DocumentType_019cd908-2784-7749-b865-b4d14bfcb342" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_DocumentType"/>
    <link:presentationArc order="1" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019cd908-2784-79e9-8e31-839d924b2993" xlink:to="loc_dei_DocumentType_019cd908-2784-7749-b865-b4d14bfcb342" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_DocumentPeriodEndDate_019cd908-2784-7f42-a6e6-66ef2981c64c" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_DocumentPeriodEndDate"/>
    <link:presentationArc order="2" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019cd908-2784-79e9-8e31-839d924b2993" xlink:to="loc_dei_DocumentPeriodEndDate_019cd908-2784-7f42-a6e6-66ef2981c64c" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_EntityRegistrantName_019cd908-2784-7799-a254-b465443ba012" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_EntityRegistrantName"/>
    <link:presentationArc order="3" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019cd908-2784-79e9-8e31-839d924b2993" xlink:to="loc_dei_EntityRegistrantName_019cd908-2784-7799-a254-b465443ba012" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_EntityIncorporationStateCountryCode_019cd908-2784-77fc-86b0-5b209de7179d" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_EntityIncorporationStateCountryCode"/>
    <link:presentationArc order="4" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019cd908-2784-79e9-8e31-839d924b2993" xlink:to="loc_dei_EntityIncorporationStateCountryCode_019cd908-2784-77fc-86b0-5b209de7179d" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_EntityFileNumber_019cd908-2784-7253-9e03-99cdb5428fc5" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_EntityFileNumber"/>
    <link:presentationArc order="5" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019cd908-2784-79e9-8e31-839d924b2993" xlink:to="loc_dei_EntityFileNumber_019cd908-2784-7253-9e03-99cdb5428fc5" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_EntityTaxIdentificationNumber_019cd908-2784-7d87-968a-f64d9eb0ef6d" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_EntityTaxIdentificationNumber"/>
    <link:presentationArc order="6" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019cd908-2784-79e9-8e31-839d924b2993" xlink:to="loc_dei_EntityTaxIdentificationNumber_019cd908-2784-7d87-968a-f64d9eb0ef6d" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_EntityAddressAddressLine1_019cd908-2784-7755-bac9-1d47d819b085" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_EntityAddressAddressLine1"/>
    <link:presentationArc order="7" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019cd908-2784-79e9-8e31-839d924b2993" xlink:to="loc_dei_EntityAddressAddressLine1_019cd908-2784-7755-bac9-1d47d819b085" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_EntityAddressCityOrTown_019cd908-2784-78ba-b4fa-d887d09f82be" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_EntityAddressCityOrTown"/>
    <link:presentationArc order="8" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019cd908-2784-79e9-8e31-839d924b2993" xlink:to="loc_dei_EntityAddressCityOrTown_019cd908-2784-78ba-b4fa-d887d09f82be" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_EntityAddressStateOrProvince_019cd908-2784-7970-92c6-2777112bb43d" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_EntityAddressStateOrProvince"/>
    <link:presentationArc order="9" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019cd908-2784-79e9-8e31-839d924b2993" xlink:to="loc_dei_EntityAddressStateOrProvince_019cd908-2784-7970-92c6-2777112bb43d" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_EntityAddressPostalZipCode_019cd908-2784-719f-883b-1e26e87c42ed" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_EntityAddressPostalZipCode"/>
    <link:presentationArc order="10" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019cd908-2784-79e9-8e31-839d924b2993" xlink:to="loc_dei_EntityAddressPostalZipCode_019cd908-2784-719f-883b-1e26e87c42ed" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_CityAreaCode_019cd908-2784-7cec-9089-533fbc696176" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_CityAreaCode"/>
    <link:presentationArc order="11" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019cd908-2784-79e9-8e31-839d924b2993" xlink:to="loc_dei_CityAreaCode_019cd908-2784-7cec-9089-533fbc696176" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_LocalPhoneNumber_019cd908-2784-7c30-bccc-59c78417ffda" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_LocalPhoneNumber"/>
    <link:presentationArc order="12" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019cd908-2784-79e9-8e31-839d924b2993" xlink:to="loc_dei_LocalPhoneNumber_019cd908-2784-7c30-bccc-59c78417ffda" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_WrittenCommunications_019cd908-2784-7a43-88e9-0e1cc8bdb8e6" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_WrittenCommunications"/>
    <link:presentationArc order="13" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019cd908-2784-79e9-8e31-839d924b2993" xlink:to="loc_dei_WrittenCommunications_019cd908-2784-7a43-88e9-0e1cc8bdb8e6" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_SolicitingMaterial_019cd908-2784-7a56-89da-f8c0aaf3e9e3" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_SolicitingMaterial"/>
    <link:presentationArc order="14" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019cd908-2784-79e9-8e31-839d924b2993" xlink:to="loc_dei_SolicitingMaterial_019cd908-2784-7a56-89da-f8c0aaf3e9e3" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_PreCommencementTenderOffer_019cd908-2784-7026-a1b8-fe7fc6a243cb" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_PreCommencementTenderOffer"/>
    <link:presentationArc order="15" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019cd908-2784-79e9-8e31-839d924b2993" xlink:to="loc_dei_PreCommencementTenderOffer_019cd908-2784-7026-a1b8-fe7fc6a243cb" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_PreCommencementIssuerTenderOffer_019cd908-2784-7ba6-b15c-997a7ad68bc6" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_PreCommencementIssuerTenderOffer"/>
    <link:presentationArc order="16" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019cd908-2784-79e9-8e31-839d924b2993" xlink:to="loc_dei_PreCommencementIssuerTenderOffer_019cd908-2784-7ba6-b15c-997a7ad68bc6" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_Security12bTitle_019cd908-2784-729f-a0c5-f9fbbdd70877" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_Security12bTitle"/>
    <link:presentationArc order="17" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019cd908-2784-79e9-8e31-839d924b2993" xlink:to="loc_dei_Security12bTitle_019cd908-2784-729f-a0c5-f9fbbdd70877" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_TradingSymbol_019cd908-2784-7cba-b4b3-fee8b99bc30b" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_TradingSymbol"/>
    <link:presentationArc order="18" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019cd908-2784-79e9-8e31-839d924b2993" xlink:to="loc_dei_TradingSymbol_019cd908-2784-7cba-b4b3-fee8b99bc30b" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_SecurityExchangeName_019cd908-2784-79f4-8144-8e7bd4f14254" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_SecurityExchangeName"/>
    <link:presentationArc order="19" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019cd908-2784-79e9-8e31-839d924b2993" xlink:to="loc_dei_SecurityExchangeName_019cd908-2784-79f4-8144-8e7bd4f14254" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_EntityEmergingGrowthCompany_019cd908-2784-7e53-adb0-d1bb877096c9" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_EntityEmergingGrowthCompany"/>
    <link:presentationArc order="20" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019cd908-2784-79e9-8e31-839d924b2993" xlink:to="loc_dei_EntityEmergingGrowthCompany_019cd908-2784-7e53-adb0-d1bb877096c9" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_EntityExTransitionPeriod_019cd908-2784-7fff-9aaa-47d2abf0ed9e" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_EntityExTransitionPeriod"/>
    <link:presentationArc order="21" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019cd908-2784-79e9-8e31-839d924b2993" xlink:to="loc_dei_EntityExTransitionPeriod_019cd908-2784-7fff-9aaa-47d2abf0ed9e" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_AmendmentFlag_019cd908-2784-7309-bd9d-297d1150b3d9" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_AmendmentFlag"/>
    <link:presentationArc order="22" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019cd908-2784-79e9-8e31-839d924b2993" xlink:to="loc_dei_AmendmentFlag_019cd908-2784-7309-bd9d-297d1150b3d9" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_EntityCentralIndexKey_019cd908-2784-7427-be52-b993b0b20d53" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_EntityCentralIndexKey"/>
    <link:presentationArc order="23" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019cd908-2784-79e9-8e31-839d924b2993" xlink:to="loc_dei_EntityCentralIndexKey_019cd908-2784-7427-be52-b993b0b20d53" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
  </link:presentationLink>
</link:linkbase>
