Various embodiments include method performed by a processor of a vehicle processing system for misbehavior detection, including receiving first vehicle-to-everything (V2X) information from a first vehicle, receiving second V2X information from neighbor vehicles of the first vehicle, determining a distribution of information in the second V2X information, and performing a security action in response to determining that information in the first V2X information is outside a confidence threshold of the distribution of information in the second V2X information.