A vehicle can connect to multiple networks and can determine network parameters (e.g., available bandwidth, latency, signal strength, etc.) associated with the multiple networks. Additionally, the vehicle can access network map data associated with the multiple networks. As the vehicle traverses an environment, the vehicle can collect sensor data of the environment and/or vehicle data (e.g., vehicle pose, diagnostic data, etc.). Based on the network parameters and the network map data, the vehicle can optimize the use of the networks determine portions of the sensor data and/or vehicle data to transmit via the one or more of the multiple networks.