Apparatuses and methods are disclosed that may perform ranging operations between a first device and a second device. The second device transmits an FTM request frame indicating a number of supported non-legacy ACK frame formats, and receives a first FTM frame indicating capabilities of the first device to receive each of the non-legacy ACK frame formats supported by the second device. The second device selects one of the non-legacy ACK frame formats or a legacy ACK frame format based, at least in part, on the indicated capabilities of the first device, and then transmits ACK frames using the selected frame format during the ranging operation.