Embodiments provide a method to accommodate clock drift and guard time in a distributed fashion. A first device is adapted to communicate with a second device. A clock in the first device is synchronized to a clock in the second device using beacon or/and acknowledgement frames from the second device. A nominal guard time is computed that accounts for clock drift in the first and second devices during a nominal synchronization interval. An additional guard time is computed that accounts for clock drift in the first and second devices during an additional interval beyond the nominal synchronization interval. An available transmission interval is determined within an allocation interval for transmissions between the devices, wherein the beginning and/or the end of the available transmission interval are selected by accounting for the nominal guard time and/or the additional guard time. One or more frames are transmitted within the available transmission interval.