Embodiments of the invention provide methods and systems to support QoS for unicast and groupcast casting types using sidelink radio bearers over the NR PC5 interface. Embodiments of the invention provide methods and systems to configure and activate sidelink radio bearers using AS-level signaling between the Tx UE and Rx UEs over the NR PC5 interface. Embodiments of the invention provide methods and systems to perform resource allocation and resource reservation in a platoon for sidelink transmissions.