The paper presents a comprehensive vision for 6G wireless systems, addressing the limitations of 5G and the emerging needs of Internet of Everything (IoE) applications. It identifies key drivers such as multisensory XR, connected robotics, wireless brain-computer interactions, and blockchain technologies. The paper proposes new service classes, including Mobile Broadband Reliable Low Latency Communication (MBRLLC), Massive URLLC, Human-Centric Services (HCS), and Multi-Purpose 3CLS and Energy Services (MPS). It outlines enabling technologies like high-frequency bands, integrated transceivers, large intelligent surfaces, edge AI, and integrated terrestrial-airborne-satellite networks. The research agenda includes fundamental 3D performance analysis, exploration of high-frequency bands, 3D networking, communication with large intelligent surfaces, AI for wireless, QoPE metrics, joint communication and control, 3CLS, protocol designs, RF and non-RF link integration, and holographic radio. The paper concludes with recommendations for a roadmap to 6G, emphasizing the need to enable MBRLLC and high-frequency mmWave/THz bands.The paper presents a comprehensive vision for 6G wireless systems, addressing the limitations of 5G and the emerging needs of Internet of Everything (IoE) applications. It identifies key drivers such as multisensory XR, connected robotics, wireless brain-computer interactions, and blockchain technologies. The paper proposes new service classes, including Mobile Broadband Reliable Low Latency Communication (MBRLLC), Massive URLLC, Human-Centric Services (HCS), and Multi-Purpose 3CLS and Energy Services (MPS). It outlines enabling technologies like high-frequency bands, integrated transceivers, large intelligent surfaces, edge AI, and integrated terrestrial-airborne-satellite networks. The research agenda includes fundamental 3D performance analysis, exploration of high-frequency bands, 3D networking, communication with large intelligent surfaces, AI for wireless, QoPE metrics, joint communication and control, 3CLS, protocol designs, RF and non-RF link integration, and holographic radio. The paper concludes with recommendations for a roadmap to 6G, emphasizing the need to enable MBRLLC and high-frequency mmWave/THz bands.