Aspects enable and provide techniques for sidelink communication resource configuration and management. A first user equipment (UE) negotiates with a second UE to select a first communication resource set (ComReSet) from a plurality of ComReSets for sidelink communication. Each of the plurality of ComReSets has a corresponding periodicity of one or more hyper-frames. The first UE communicates with the second UE using the first ComReSet using a frame timing synchronized with the corresponding periodicity of the first ComReSet.