Methods, systems, and devices for wireless communications are described. In some implementations, a UE may determine that a maximum permissible exposure (MPE) restriction applies to UE transmissions, and the UE may transmit at a lower power to meet the restriction. The UE may be configured to account for lower power transmission when selecting between a two-step or a four-step random access channel (RACH) procedure. In some cases, the UE may identify a RACH procedure selection rule for selecting between the two-step RACH procedure and the four-step RACH procedure based on whether an exposure condition (e.g., MPE restriction) is identified. The selection rule may indicate one or more synchronization signal block based reference signal received power thresholds to be used by the UE to select between the two-step RACH procedure and four-step RACH procedure. The UE may perform the selected RACH procedure.