This study investigates the use of Autonomous Sensing Infrastructure and Connected and Autonomous Vehicles (CAV) technologies to support infrastructure-to-vehicle (I2V) and infrastructure-to-everything (I2X) communications, including the alerting of drivers and pedestrians. It describes research findings in the following CAV functionalities: (1) Intersection-based object detection and tracking; (2) Basic Safety Message (BSM) generation and transmission; and (3) In-Vehicle BSM receipt and display, including handheld (smartphone) application BSM receipt and user presentation. The study summarizes the various software and hardware components used to create the I2V and I2X prototype solutions, which include open-source and commercial software as well as industry-standard transportation infrastructure hardware, e.g., Signal Controllers. Results from in-lab testing demonstrate effective object detection (e.g., pedestrians, bicycles) based on sample traffic camera video feeds as well as successful BSM message generation and receipt using the leveraged software and hardware components. The I2V and I2X solutions created as part of this research are scheduled to be deployed in a real-world intersection in coordination with state and local transportation agencies.