A discoverer user equipment sends a discovery announcement to a discoveree user equipment via a sidelink service. The announcement includes criteria for a service sought by discoverer. The discoveree assesses the announcement and may respond to the discoverer. The discovery announcement may be a target search discovery announcement or a self-advertisement discovery announcement, and may be unicast, groupcast, or broadcast. The discoverer and discoveree may perform synchronization in support of V2X sidelink communication and may collect driving information pertaining to vehicles associated with the discoverer and discoveree, respectively, such as driving intention, positioning, and environment information. The discoverer may request an authorization for the discovery announcement, and the request may include the driving information. The information in the announcement and the response may include discoverer and discoveree service, platform, and radio capabilities, source identifiers, driving information, radio measurements, group identifiers, and protocol configuration parameters.