The disclosure describes embodiments for modifying a vehicle control system of a connected vehicle based on a Vehicular Accident Reconstruction (VAR) analysis. In some embodiments, a method includes detecting an occurrence of a collision associated with a remote vehicle; generating report data associated with the collision, where the report data includes one or more of Vehicle-to-Everything (V2X) data describing V2X wireless messages received prior to detecting the occurrence of the collision and event data describing one or more driving events observed by an ego vehicle; transmitting the report data to a server; receiving modification data that describes a modification for a vehicle control system of the ego vehicle from the server, where the modification data is generated based on the report data through a VAR analysis; and modifying an operation of the vehicle control system based on the modification data to improve safety of the ego vehicle.