The 12-year-old girl and her 41-year-old father died when the Toyota sedan they were travelling in was hit by a ute on May 26.
The car rolled, trapping the 52-year-old driver and his passengers after the collision near an intersection on Milperra Rd at Milperra, in southwest Sydney.
The male passenger's 10-year-old son was also injured in the crash but survived despite suffering serious injuries.
On Thursday, the rideshare driver attended Bankstown police station and was charged with two counts each of negligent driving occasioning death and causing bodily harm by misconduct while in charge of a motor vehicle.
He was granted bail to appear at Bankstown Local Court in early November.
The father and daughter were riding in the back seat of the car when the driver took an unsafe right-hand turn in front of oncoming traffic, police said previously.
Dashcam footage showed the sedan making the turn before being hit by the oncoming Toyota HiLux, which hit the back-left passenger door.
The driver was also taken to hospital in a serious but stable condition following the crash, while the 19-year-old ute driver was treated at the scene for minor injuries before also being taken to hospital.
Investigators earlier said they were also looking to whether the HiLux driver was travelling above the 70km/h speed limit at the time of the crash, but no charges have been laid against the teenager.
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