Wireless communication devices, systems, and methods related to handling user equipment's (UE's) failure to receive a timing advance (TA) command from a base station during in a two-step random access procedure are provided. For example, a method of wireless communication can include transmitting a first random access channel (RACH) message (e.g., msgA); monitoring for a second RACH message (e.g., msgB) from the BS including a timing advance (TA) command; performing a hybrid automatic repeat request (HARQ) procedure on the second RACH message; and performing, when the HARQ procedure on the second RACH message fails, at least one of: starting a new RACH procedure or triggering a radio link failure (RLF).