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We develop a virtual prototyping infrastructure for modeling and simulation of automotive systems. We focus on exercising and exploring use cases involving system-level coordination of vehicular electronics, sensors, and software. In current practice, such use cases can only be explored late in the design when all the relevant hardware components are available. Any design change, e.g., for optimization or security or even functional errors found during the exploration, incurs prohibitive cost at that stage. Our solution is a flexible, configurable prototyping platform that enables the user to seamlessly add new system-level use cases. Unlike other related prototyping environments, the focus of our platform is on communication and coordination among different components, not the computation of individual Electronic Control Units. We report on the use of the platform for implementing several realistic usage scenarios on automotive platforms and exploring the effects of their interaction. In particular, we show how to use the platform to develop real-time in-vehicle communication optimizers for different optimization targets.