Methods, apparatuses, and computer-readable mediums for wireless communication are disclosed by the present disclosure. In an example, the present disclosure includes selecting, at a first device, a Random Access Channel (RACH) preamble identifier (ID) from a set of RACH preamble IDs based on a discovery procedure associated with a second device, wherein each RACH preamble ID from the set of RACH preamble IDs corresponds to at least one RACH preamble and is associated with the second device; and transmitting, from the first device, a RACH preamble associated with the selected RACH preamble ID to the second device.