Systems, methods, and devices for wireless communication that support mechanisms for determining a joint priority of sidelink and access link (Uu) positioning reference signal (PRS) transmissions in a wireless communication system. A joint priority of a PRS transmission may refer to a priority of the PRS transmission over the entire set of PRS transmissions including sidelink PRS transmissions and Uu PRS transmissions transmitted to a target UE in a sidelink positioning session. In aspects, a joint priority of a sidelink PRS transmission from an anchor UE may be determined with respect to not only other sidelink transmissions, but also with respect to other Uu PRS transmissions from other anchor base stations. Similarly, a joint priority of a Uu PRS transmission from an anchor base station may be determined with respect to not only other Uu transmissions, but also with respect to other sidelink PRS transmissions from other anchor UEs.