Disclosed are techniques for wireless communication. In an aspect, a user equipment (UE) participating in a sidelink communications group communicates with one or more member UEs of the sidelink communications group, and transmits group presence announcement messages for the sidelink communications group based on a determination, based on communicating with the one or more member UEs, of at least a transmit power for the group presence announcement messages and that the UE is expected to transmit the group presence announcement messages for the sidelink communications group.