Wireless communication systems and methods related to the discovery and selection of relay devices by internet of everything (IoE) devices are disclosed. For example, IoE devices with low pathloss to a base station can broadcast information during discovery frames that allow other IoE devices to discover them and select them as a relay, if appropriate. The discovery broadcast message from an IoE device can include information to allow a listening IoE device to select a suitable IoE device for relaying its data that satisfies latency parameters while minimizing the energy impact of relaying. Signaling structures are also provided to allow different IoE devices to select slots for broadcasting within the discovery frame in a distributed manner without disrupting existing periodic broadcasts. Other aspects, embodiments, and features are also claimed and described.