Aspects relate to techniques for exchanging resource pool (RP) configurations between wireless communication devices. A transmitting wireless communication device can transmit a remaining minimum system information (RMSI) message including a RP configuration of the transmitting wireless communication device to at least one receiving wireless communication device. The RMSI message is transmitted within a minimum resource block set that is common to both the transmitting wireless communication device and the at least one receiving wireless communication device. The transmitting wireless communication device may then communicate with the at least one receiving wireless communication device on a sidelink based on the RP configuration.