Vehicle-to-Everything (V2X) creates many new opportunities in the area of wireless communications in 5G, while its feasibility on enabling vehicular positioning has not been fully explored despite its importance for autonomous driving. This research pursues developing a new V2X architecture for B5G/6G, jointly achieving the desired goals of communication and positioning. Specifically, we aim at revisiting the state-of-the-art sensing technologies, such as RADAR and LIDAR, known to provide a decent positioning result without concerning the communication perspective. Then, we redesign the above technologies by integrating advanced communication system functionalities, e.g., multi-antenna signal processing, multiple access control, and radio resource optimization.