Wireless communications systems and methods related to performing hybrid grant-free and grant-based uplink (UL) data transmission. A wireless communication device dynamically selects between a grant-free mode and a grant-based mode based on at least a transmission configuration. The wireless communication device sends a first data packet in the grant-free mode, based on the selecting, using a first UL resource. The wireless communication device sends a second data packet in the grant-based mode, based on the selecting, using a second UL resource allocated to the wireless communication device. Other aspects, embodiments, and features are also claimed and described.