Disclosed are techniques for wireless communication. In an aspect, an assisting user equipment (UE) receives a request to perform a positioning procedure from a target UE over a sidelink between the assisting UE and the target UE, wherein the assisting UE and the target UE are both out of network coverage, determines, based at least on the request, a set of time and/or frequency resources on which to transmit one or more positioning reference signals for the positioning procedure, and transmits the one or more positioning reference signals to the target UE via the set of time and/or frequency resources.