Wireless communications systems and methods related to intra-slot transmit beam selection and receive beam selection for sidelink are provided. A first user equipment (UE) transmits, to a second UE over a sidelink, a plurality of beam measurement signals in a plurality of beam directions during a first slot, wherein each beam measurement signal of the plurality of beam measurement signals includes at least one of sidelink control information (SCI) or a channel state information-reference signal (CSI-RS), and wherein the plurality of beam directions includes at least two different beam directions. The first UE receives, from the second UE, an indication of a preferred beam direction of the plurality of beam directions. The first UE transmits, to the second UE over the sidelink, data in the preferred beam direction.