A method includes receiving an UL prioritization threshold and a SL prioritization threshold at a user equipment (UE), and determining whether an UL transmission overlaps a SL transmission in time domain. When the UL transmission overlaps the SL transmission in time domain, which of the UL transmission and the SL transmission is to be prioritized is determined based on the UL prioritization threshold and the SL prioritization threshold, and logical channel (LCH) priorities associated with the UL transmission and the SL transmission. The method can further includes performing one of the UL transmission and the SL transmission that is prioritized.