Systems and methods for sidelink configuration are provided. A transmitting user equipment (UE) transmits configuration parameters relating to a sidelink transmission between the UE and a second UE via higher-layer signalling and then transmits the sidelink transmission to the second UE. The higher layer signalling is a layer above the sidelink transmission. The parameters may include feedback channel parameters or parameters for sidelink reference signal transmission by the second UE. The parameters may be selected by the transmitting UE, or they may be received initially from the network. The parameters may be part of a sidelink configured grant configuration (SL CG) signalled to the second UE. The sidelink transmission may be a configured-grant transmission to the second UE according to the SL CG configuration. The higher layer signalling may be PC5 signalling or RRC signaling.