Wireless communication systems and methods related to quality of service mapping, are provided. A first user equipment determines a sidelink radio bearer identifier (SLRB ID) for a quality of service (QoS) flow from a plurality of rules. The rules identify different characteristics of the QoS flow. The SLRB ID is inserted into a header of a packet in the QoS flow. The QoS flow is mapped to a radio bearer that is mapped to an L2 link with other radio bearers that are mapped to other QoS flows. The L2 link transmits the radio bearers to a second UE as part of a broadcast, groupcast or unicast sidelink communication. Based on the SLRB ID, the second UE identifies requirements of the QoS flow.