A method of wireless communication includes transmitting, by a first device, a sensor sharing message (SSM) associated with a vehicle communication network. The SSM includes first data associated with the first device and further includes second data indicating one or more objects detected by the first device. The method further includes, in response to transmitting the SSM, receiving, by the first device from a second device, an extension request for extension data associated with at least a first object of the one or more objects.