The emergence of the sixth generation of cellular systems (6G) signals a transformative era and ecosystem for mobile communications, driven by demands from technologies like the internet of everything (IoE), V2X communications, and factory automation. To support this connectivity, mission-critical applications are emerging with challenging network requirements. The primary goals of 6G include providing sophisticated and high-quality services, extremely reliable and further-enhanced mobile broadband (feMBB), low-latency communication (ERLLC), long-distance and high-mobility communications (LDHMC), ultra-massive machine-type communications (umMTC), extremely low-power communications (ELPC), holographic communications, and quality of experience (QoE), grounded in incorporating massive broad-bandwidth machine-type (mBBMT), mobile broad-bandwidth and low-latency (MBBLL), and massive low-latency machine-type (mLLMT) communications. In attaining its objectives, 6G faces challenges that demand inventive solutions, incorporating AI, softwarization, cloudification, virtualization, and slicing features. Technologies like network function virtualization (NFV), network slicing, and software-defined networking (SDN) play pivotal roles in this integration, which facilitates efficient resource utilization, responsive service provisioning, expanded coverage, enhanced network reliability, increased capacity, densification, heightened availability, safety, security, and reduced energy consumption. It presents innovative network infrastructure concepts, such as resource-as-a-service (RaaS) and infrastructure-as-a-service (IaaS), featuring management and service orchestration mechanisms. This includes nomadic networks, AI-aware networking strategies, and dynamic management of diverse network resources. This paper provides an in-depth survey of the wireless evolution leading to 6G networks, addressing future issues and challenges associated with 6G technology to support V2X environments considering presenting +challenges in architecture, spectrum, air interface, reliability, availability, density, flexibility, mobility, and security.