A user equipment (UE) may receive Vehicle-to-Everything (V2X) information from a V2X entity, such as a vehicle, road side unit, or other UE carried by a pedestrian. The V2X information may be transmitted to a location server by the UE to obtain positioning assistance data. The location server may determine a coarse position of the UE using the V2X information and generate corresponding positioning assistance data including Positioning Reference Signal (PRS) information for neighbor base stations, which is transmitted to the UE. The UE may detect PRS signals from the neighbor base stations and perform position determination using the PRS signals. The V2X entity or a different V2X entity may also transmit PRS signals that are received by the UE and used along with the PRS signal from the neighbor base stations to perform position determination.