Methods, systems, and devices for wireless communications are described. In some examples, a transmitting user equipment (UE) may receive control signaling indicating a configuration including criterion for selecting a sensing mode for a sidelink resource selection procedure. The transmitting UE may select the sensing mode based on the configuration and a duplex mode configured for a sensing window and determine available resources based on the performing channel sensing according to the selected sensing mode. The transmitting UE may then select one or more of the available resource to transmit one or more sidelink message to a receiving UE.