“…Level 4 AVs, in particular, hold the potential for transformative changes in transportation and urban landscapes [5], as they can operate autonomously in various scenarios and geographic areas while still offering the option for human control in exceptional circumstances [6]. Beyond automation, the connectivity aspect of vehicles plays a vital role [7, 8], enabling the exchange of safety and mobility information, overcoming limitations of onboard sensors and improving reliability in challenging conditions [9–11]. The integration of connectivity and automation, known as Connected and Automated Vehicles (CAVs), offers unique advantages that cannot be achieved independently [12, 13].…”