A user equipment (UE) may initiate a random access (RACH) procedure using an uplink resource selected based on a corresponding received synchronization signal block. The UE may detect a random access procedure trigger. The UE may configure a selection threshold time. The selection threshold time may be based at least in part on a latency requirement of the UE. The UE may select a synchronization signal block having a corresponding uplink resource within the selection threshold time. The synchronization signal block and corresponding uplink resource satisfy one or more parameters or conditions. The UE may transmit a random access preamble on the corresponding uplink resource.