A method, at a User Equipment, UE (204A, 204B), for obtaining configuration information for one or more Sidelink Radio bearers, SL-RBs used for sidelink communication with and without packet duplication, PD, the method comprising: transmitting (802A, 802B), to a Radio Access Network, RAN, node, a radio resource control, RRC, sidelink, SL, configuration request, the RRC SL configuration request comprising UE capability information and service information associated with a requested ultra-reliable low latency, URLL, vehicle-to-anything, V2X service; receiving (804A, 804B) an RRC sidelink configuration response sent by the RAN node, the RRC sidelink configuration response comprising the configuration information for the one or more SL-RBs associated with the requested URLL V2X service and component carriers, CC, wherein the configuration information for the one or more SL-RBs associated with the requested URLL V2X service comprises connection type information indicative of a connection type supported by at least one destination UE, the connection type comprising one of unicast, groupcast or broadcast transmission; obtaining (804A, 804B), by the UE and the destination UE, an SL-RB configuration mapping to support PD and multi-CC transmission; determining, when the UE and the destination UE are within a certain proximity distance, the V2X services supported by each other via a V2X discovery channel; sending, if the UE has packets for transmission, an SL scheduling request, SL SR, and an SL buffer status report, SL BSR, request to the RAN node; obtaining (810, 812), from the RAN node, if PD is required, multiple activated CCs and SL grants with resources for sidelink transmission determined by the RAN node based on a traffic volume, reported channel busy ratio, CBR, and sidelink channel quality indicators, CQI, of CCs; enabling PD at packet data convergence protocol, PDCP, and transmitting data using duplicated packets associated with the requested URLL V2X service over the one or more SL-RBs over multiple sidelink CCs using the configuration information, wherein the service information comprises at least one of: an identifier of the URLL V2X service; an identifier of the destination UE to be associated with the requested URLL V2X service; an identifier of destination UE group to be associated with the requested URLL V2X service; QoS requirements for the requested URLL V2X service; and QoS indicators to be associated with the requested URLL V2X service. transmitting (802A, 802B), to a Radio Access Network, RAN, node, a radio resource control, RRC, sidelink, SL, configuration request, the RRC SL configuration request comprising UE capability information and service information associated with a requested ultra-reliable low latency, URLL, vehicle-to-anything, V2X service; receiving (804A, 804B) an RRC sidelink configuration response sent by the RAN node, the RRC sidelink configuration response comprising the configuration information for the one or more SL-RBs associated with the requested URLL V2X service and component carriers, CC, wherein the configuration information for the one or more SL-RBs associated with the requested URLL V2X service comprises connection type information indicative of a connection type supported by at least one destination UE, the connection type comprising one of unicast, groupcast or broadcast transmission; obtaining (804A, 804B), by the UE and the destination UE, an SL-RB configuration mapping to support PD and multi-CC transmission; determining, when the UE and the destination UE are within a certain proximity distance, the V2X services supported by each other via a V2X discovery channel; sending, if the UE has packets for transmission, an SL scheduling request, SL SR, and an SL buffer status report, SL BSR, request to the RAN node; obtaining (810, 812), from the RAN node, if PD is required, multiple activated CCs and SL grants with resources for sidelink transmission determined by the RAN node based on a traffic volume, reported channel busy ratio, CBR, and sidelink channel quality indicators, CQI, of CCs; enabling PD at packet data convergence protocol, PDCP, and transmitting data using duplicated packets associated with the requested URLL V2X service over the one or more SL-RBs over multiple sidelink CCs using the configuration information, wherein the service information comprises at least one of: an identifier of the URLL V2X service; an identifier of the destination UE to be associated with the requested URLL V2X service; an identifier of destination UE group to be associated with the requested URLL V2X service; QoS requirements for the requested URLL V2X service; and QoS indicators to be associated with the requested URLL V2X service. an identifier of the URLL V2X service; an identifier of the destination UE to be associated with the requested URLL V2X service; an identifier of destination UE group to be associated with the requested URLL V2X service; QoS requirements for the requested URLL V2X service; and QoS indicators to be associated with the requested URLL V2X service.