Aspects are provided which allow for multiplexing of higher priority uplink transmissions with lower priority uplink transmissions while maintaining URLLC of the higher priority uplink transmission. A UE receives from a base station information including resources for first and second uplink data, where at least a portion of the resources for the first and second uplink data overlap in time. The first and second uplink data are associated with different priority levels. The UE determines whether to multiplex the uplink data based on a transmission timing difference between a scheduled transmission time and a multiplexed transmission time for the second uplink data on the respective resources. The base station makes a similar determination. If the transmission timing difference fails to meet a delay threshold, multiplexing is performed; otherwise, the lower priority transmission is dropped. Thus, different priority multiplexing may occur in low latency situations, satisfying URLLC.