Embodiments are disclosed that include systems and methods performed by a processor of a designated platoon vehicle, including establishing an out-of-band vehicle-to-vehicle (V2V) communication link with a target vehicle in response to determining a change in the quantity of vehicles included in the platoon is approved, wherein the out-of-band V2V communication link extends laterally more than a first V2V communication link with an initially-adjacent platoon vehicle, expanding the first V2V communication link for maintaining communications with the initially-adjacent platoon vehicle while changing a relative positioning between the designated platoon vehicle and the initially-adjacent platoon vehicle, establishing a second V2V communication link with the target vehicle, and ending the out-of-band V2V communication link in response to the target vehicle taking the place of the initially-adjacent platoon vehicle immediately adjacent to and either in front of or behind the designated platoon vehicle.