Various aspects of the disclosure relate to sharing vehicle sensor information. In some aspects, a requestor (e.g., a first vehicle) may transmit a request for vehicle sensor information. A responder (e.g., a second vehicle) may then respond with information sensed by the responder. For example, a requestor may unicast a vehicle-to-anything (V2X) message that requests a particular responder to share specified sensor information. As another example, a requestor may broadcast a vehicle-to-anything (V2X) message that requests any responder that meets a response criterion (or response criteria) to share specified sensor information.