A target user equipment (UE) identifies other UEs that are available for a positioning reference signal (PRS) exchange for sidelink assisted positioning of the target UE. The target UE may provide to a network entity, such as a location server, the identifications of the UEs that are available for the sidelink-assisted positioning of the target UE. The network, entity may generate and provide for sidelink-assisted positioning the PRS configurations for UEs, which may include the one or more UEs recommended by the target UE. The target UE may provide a list of UEs, in response to a request from the network entity, in response to receipt of a network generated list provided to the target UE, or in response to a determination that PRS measurements based on previously acquired UE PRS configurations are inadequate. The sidelink-assisted positioning may be used when the target UE is present in a null-zone.