Officials say the driver left the SUV running near Olmstead Avenue and Unionport Road at around 12:30 a.m. Sunday.
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Two men wearing ski masks jumped inside the car and drove off, authorities said.
Officials say that when the suspects realized the woman and six-month-old were in the back, they let them out of the car unharmed.
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Police later found the SUV along University Avenue, but they have not made any arrest.
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