Abstract: A system and a method for performing exchange of lidar datapoints between a lidar sensor and a host computing device are provided. The lidar sensor stores a sensor payload size range, and the host computing device stores a host payload size range. When the lidar connection is initiated, the host computing device and the lidar sensor perform handshaking to determine an overlapping range between the host sensor payload size range and the sensor payload size range, and to negotiate an acceptable datapoint payload size based on the overlapping range. Once the handshaking is complete, the lidar connection may be performed using the acceptable data point payload size as a payload size thereof. Thus, the payload size is independent of a maximum transmission unit (MTU) of an Ethernet.