Certain aspects of the present disclosure provide techniques for requesting inter-UE coordination messages for sidelink communications. An example method for wireless communications by a first user equipment (UE) generally includes sending a sidelink communication on a first set of one or more subchannels in a first slot of sidelink resource pool, performing channel sensing on a second set of one or more subchannels in the first slot, and selecting one or more resources for a subsequent sidelink communication in at least a second slot of the sidelink resource pool on the channel sensing.