An apparatus and a method of vehicle-to-everything (V2X) communication of same are provided. The apparatus is a local header. The method includes pre-allocating a plurality of transmission opportunities of a plurality of sidelink (SL) resources in a time domain multiplexed (TDM'ed) manner, and coordinating transmission timings between a plurality of group member user equipments (UEs) in a unicast session or a groupcast session.