Cooperative maneuver coordination is a cornerstone of Cooperative, connected and automated mobility (CCAM), enabling autonomous vehicles to negotiate and execute ma- neuvers through Vehicle to Everything (V2X) communication. The European Telecommunications Standards Institute (ETSI) has proposed the Maneuver Coordination System (MCS) to standardize this process, but its effectiveness depends on the correct integration with the autonomous driving stack and the accurate creation of trajectories to be exchanged among vehicles. This paper presents an updated MCS implementation featuring a modular architecture, Data Distribution Service (DDS) support, and a trajectory generation module aligned with the latest specifications. Validation in a two-vehicle overtaking scenario demonstrates that reliable trajectory exchange and real-time negotiation can be achieved, underscoring how V2X-enabled networks support safe and efficient cooperative driving.