Disclosed are techniques for wireless communication. In an aspect, a first UE determine a sidelink positioning reference signal (PRS) pattern for a sidelink position estimation procedure, the sidelink PRS pattern including at least one PRS transmission occasion for each of a group of UEs on a shared communication medium, and performs one or more attempts to transmit a first PRS on one or more PRS transmission occasions associated with the first UE in accordance with the sidelink PRS pattern. In another aspects, a second UE determines the sidelink PRS pattern, and monitors a first PRS transmission occasion for receipt of a first PRS from a first UE in accordance with the sidelink PRS pattern.