Methods, apparatuses, and computer-readable mediums for wireless communication are disclosed by the present disclosure. In an example, a client wireless device may transmit a random access channel (RACH) preamble on a first time domain resource to a recipient such as a host wireless device. The client wireless device may later transmit a second RACH message to the recipient on a second time domain resource after the first time domain resource. The second time domain resource may be defined by a mapping from the first time domain resource. The recipient may transmit a third RACH message establishing a communication session between the host wireless device and the client wireless device. The second RACH message may include one or more of: an identifier of the wireless device; an identifier of the recipient of the second RACH message; a resource configuration for subsequent RACH messages; or timing information.