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Hindi is an Indo-European language, same as English, Farsi, etc. Hindi has a lot of influence from Persian, which itself has a lot of influence from Arabic, so in the case of औरत it came to Hindi from Arabic via Farsi.
Other examples of Arabic loanwords via Farsi include शुक्रिया ("thank you") and आदमी. (Some may argue that शुक्रिया is purely Urdu but I learned it in Hindi class, so I dunno.)