Disclosed are techniques for wireless positioning. In an aspect, a user equipment (UE) receives, from one or more transmission-reception points (TRPs), one or more on-demand downlink positioning reference signals (DL-PRS), the one or more on-demand DL-PRS having one or more downlink transmission parameters, and transmits, to the one or more TRPs, one or more uplink positioning reference signals (UL-PRS), the one or more UL-PRS having one or more uplink transmission parameters, wherein values of the one or more uplink transmission parameters are the same as or within a threshold of values of the one or more downlink transmission parameters.