The development of fully autonomous, software-defined vehicles has recently become a hot topic. This advancement paves the way for service-oriented and software-centric approaches to in-vehicle computation. However, it also increases the hardware requirement for the ever-growing software demands. As more hardware components are added to the computing system, resource management and security for mixed-criticality operating environments become increasingly challenging, and virtualization has emerged as a promising technology for managing and isolating heterogeneous computing resources in vehicles. However, a major drawback of virtualization is performance degradation and how application processes communicate efficiently with low latencies via a portable application programming interface (API) in a virtualized environment remains a challenge. In this work, we propose a framework, Zenoh Virtualization Link, or ZVLink, that integrates efficient virtualization with a lightweight open-source pub/sub API, Zenoh, to achieve efficient and real-time interprocess communications across colocated virtual machines (VMs). Experimental results demonstrate that an unoptimized Zenoh delivers messages across VMs at 15 MB/s, which is 82% of the 18.2 MB/s transfer rate measured with XenLoop, the state-of-the-art network optimization in Xen, while our framework delivers 349.4 MB/s, which outperforms the unoptimized Zenoh by 23.3 times, and the XenLoop optimized Zenoh by 19.2 times. These findings suggest that our framework offers a viable solution for efficient and scalable interprocess communications in conjunction with virtualized environments to improve the security and reliability of autonomous systems.