Systems, apparatuses, and methods for enabling sensor discovery in autonomous devices herein. An example system for enabling dynamic sensor discovery including a client that includes an autonomous device. The autonomous device is capable of navigating from a current location to a destination location using sensor data. The client provides a request for sensor information for sensors along a planned route and receives respective sensor information for each of a set of selected sensors selected by a data server based on the request. The client subscribes to a data feed of a sensor of the set of selected sensors along the planned route based on sensor information corresponding to the sensor and client analyzes the data feed to determine whether to proceed with the planned route.