A method for a user equipment (UE) includes decoding an information element (IE) MAC-CellGroupConfig, determining that a field lch-BasedPrioritization of the IE MAC-CellGroupConfig is not configured, determining that a plurality of configured grants (CGs) overlap in time domain, each of the plurality of CGs indicative of uplink resources for allocation to a corresponding one of a plurality of CG physical uplink share channels (CG-PUSCH), causing uplink control information (UCI) to be multiplexed onto a CG-PUSCH, and selecting the CG-PUSCH with multiplexed UCI for transmission.