Groupcast communications between devices of a group of devices, e.g. between vehicles in a platoon, may include a device in the group transmitting a groupcast message in a sidelink transmission to the other devices and receiving feedback information in sidelink transmissions from the other devices within the same channel occupancy time (CoT). The feedback information may be transmitted by the other devices in response to the groupcast message including an information request directed to the other devices. The group of devices may include a designated group leader which may manage one or more aspects of the communications of the other devices in the group. The designated group leader may be dynamically switched based at least on the received feedback information. The devices in the group may use beamforming for intra-group and inter-group sidelink communications for efficient spectrum usage.