In one embodiment, a master on-boarding agent establishes a virtual private network (VPN) connection with a local on-boarding agent executed by a gateway of a vehicle. The master on-boarding agent receives, via the VPN connection, vehicle data obtained by the local on-boarding agent from a co-pilot system of the vehicle. The master on-boarding agent configures, based on the received vehicle data, the gateway of the vehicle with a network configuration, wherein the network configuration includes an Internet Protocol (IP) address for the gateway. The master on-boarding agent coordinates, based on the network configuration, application of a security policy to the gateway.