Various aspects of the present disclosure generally relate to wireless communication. In some aspects, techniques for improving semi-persistent scheduling performance, including in the context of cellular vehicle-to everything (CV2X) communications, are provided. For example, a method of wireless communication performed by a user equipment can include determining a first periodicity for transmitting safety messages, determining a second periodicity for transmitting the safety messages, wherein the second periodicity is different than the first periodicity, determining, based on a probabilistic determination process, whether to continue with the first periodicity or switch to the second periodicity, generating, based on the determination to continue with the first periodicity or switch to the second periodicity, the safety messages at the first periodicity or the second periodicity, and transmitting the safety messages at a same periodicity at which the safety messages were generated. Numerous other aspects are provided.