Aspects of the present disclosure are directed to device-to-device (D2D) and, more particularly, vehicle-to-vehicle (V2V) communication in which an efficient ranging protocol allows efficient ranging-assisted vehicle positioning. A vehicle transmits a first slot ID in a first control period, to indicate a first time slot for transmitting a first ranging signal in a ranging cycle including a plurality of time slots. The vehicle transmits the first ranging signal in the first time slot in the ranging cycle. From a second vehicle, the first vehicle receives a second ranging signal in a second time slot that is different from the first time slot in the ranging cycle. The first vehicle determines a first time-of-arrival (ToA) of the second ranging signal when received by the first vehicle, and transmits the first ToA in a second control period.