Here are some talks of 6G satellite communication. This is mainly not the cellphone direct to satellite communication but satellite to satellite dish communication.
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I don’t see 6G as a key to achieving autonomous driving, rather a vulnerability crutch to avoid. V2X will be much more robust and is a superpower sensor when fully implemented, and that will enable L(X+1) autonomous driving. We only are waiting for the DOT and FCC to lead or get out of the way. A Kessler syndrome will possibly degrade or wipe out 6G, with the way things are going.