This disclosure provides systems, devices, apparatus, and methods, including computer programs encoded on storage media, for beam training resource selection by a sidelink UE. A first UE may determine to perform beam training with a second UE in a set of beam training resources. The set of beam training resources may include a first subset of beam training resources for UEs without a RRC connection and a second subset of beam training resources for UEs with a RRC connection, where the first subset of beam training resources and the second subset of beam training resources are non-overlapping. The first UE may determine whether the first UE is RRC connected with the second UE and perform beam training in one of the first subset of beam training resources or the second subset of beam training resources based on whether the first UE is RRC connected with the second UE.