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As one of key technologies of future networks, vehicle-to-everything (V2X) communication has recently been proposed to improve conventional vehicle systems in terms of traffic and communications. Main benefits of using V2X are efficient and safe traffic as well as low-latency communications and reliable massive connections. Non-orthogonal multiple access (NOMA) scheme was introduced as a promising solution in the fifth-generation (5G) mobile communications, by which quality-of-service (QoS) requirements of many 5G-enabled applications are satisfied as a result of improved network throughput and lower accessing and transmission latency. In this paper, we study NOMA-based communications between vehicles equipped with multiple antennas over Nakagami-m fading channels in V2X networks, in which uplink and downlink transmission between two vehicles with upper controller are supported by a road side unit (RSU) to increase the capacity rather than simply be connected to the base station. In the NOMA-V2X system under study, the outage probability depends on the power allocation factor of RSU transmission and the operation of successive interference cancellation (SIC) at vehicles. Analyses and simulations verify that the outage performance of NOMA-V2X system are mainly affected by fading parameters, levels of imperfect SIC, and power allocation factors. [ABSTRACT FROM AUTHOR]