Methods, apparatuses, and computer-readable mediums for wireless communication are disclosed by the present disclosure. In an example, a host wireless device may transmit a discovery message to a client wireless device. The client wireless device may transmit a random access channel (RACH) preamble on a first time domain resource to the host wireless device in response to the discovery message. The client wireless device may later transmit a second RACH message to the host device on a second time domain resource after the first time domain resource. The second time domain resource may be defined by a mapping from the first time domain resource. The host device may transmit a third RACH message establishing a communication session between the host wireless device and the client wireless device.