This disclosure provides systems, methods, and apparatuses for low latency handover between secondary nodes (SNs). In one aspect, a user equipment (UE) may receive a configuration for a plurality of SNs, receive a command to communicate via an SN of the plurality of the SNs, and determine a handover procedure that is to be used to establish a connection with the SN. The handover procedure may be a random access channel (RACH)-less or a two-step RACH procedure and is determined to be used based on a determination that uplink time synchronization is established with the SN.