Techniques, systems, and devices for wireless communications are described. A user equipment (UE) may be in communication with a first and second transmitting device (e.g., by sidelink communication links). The UE may receive, from the first transmitting device, a first reference signal on a first set of resources. The UE may additionally receive, from the second transmitting device, a second reference signal on a second set of resources that overlap in the time domain with the first set of resources. In some cases, the first and second set of resources may additionally overlap in the frequency domain. The UE may determine synchronization information for time tracking or frequency tracking of sidelink communications with the first and second transmitting devices based on the first and second reference signals. The UE may communicate with the first and second transmitting devices based on the synchronization information for time tracking or frequency tracking.