Methods, systems, and devices for wireless communications are described. A first user equipment (UE) may communicate with a second UE using a shared radio frequency spectrum band. The first UE may perform a listen before talk (LBT) and may transmit a first positioning reference signal (PRS) based on a result of the LBT. The first UE may transmit the first PRS using a first time resource that is based on a duration of the first PRS. In response to detecting the first PRS, the second UE may transmit a second PRS using a second time resource that is based on the duration of the first PRS. The second UE may transmit the second PRS based on performing an LBT without a random back-off, which may enable the second UE to transmit the second PRS with reduced latency and improved reliability.