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The evolution of connected and automated vehicle (CAV) technology is encouraging the development of innovative solutions for sixth-generation (6G) Vehicular-to-Everything (V2X) networks. 6G V2X is expected to overcome some limitations of 5G NR to enable cooperative sensing for augmented perception in self-piloted vehicles, providing high safety, efficiency, and increased road network detection through unprecedented communication capabilities. 6G V2X communication in wireless systems faces many challenges, such as interference limitation, high-data-rate and low latency requirements, and resource management optimization. New statistical approaches will be the key enabling technologies to guarantee fast data sharing and ensure high-quality and reliable communication links.