Disclosed are techniques for wireless communication. In an aspect, a transmitter user equipment (UE) determines a first demodulation reference signal (DMRS) pattern for a first slot allocated for transmission over a sidelink between the transmitter UE and a receiver UE, wherein the first DMRS pattern is determined based at least on the first slot having a first slot format of two or more slot formats, and transmits, to the receiver UE, DMRS in the first slot according to the first DMRS pattern. In an aspect, the receiver UE determines the first DMRS pattern for the first slot based at least on the first slot having the first slot format, and receives, from the transmitter UE, DMRS in the first slot according to the first DMRS pattern.