Example aspects include a method, apparatus, and computer-readable medium for sidelink-aided radio frequency (RF) sensing at user equipment (UE) of a wireless communication network, comprising receiving a sensing establishment message associated with a sensing session. The aspects further include receiving one or more sensing measurement information obtained by the one or more sidelink UEs corresponding to the sensing session, or a first sensing outcome information corresponding to the sensing session obtained by one of the one or more sidelink UEs based on the one or more sensing measurement information. Additionally, the aspects include transmitting the one or more sensing measurement information obtained by the one or more sidelink UEs corresponding to the sensing session, or a second sensing outcome information corresponding to the sensing session.