A ranging session between multiple user equipments (UEs) is initiated using an initial message that includes identifiers (IDs) for the initiating UE and each of one or more responder UEs. Each UE in the ranging session independently determines the timing instances of the signaling for each UE in the ranging session based on the UE IDs in the initial message. Signaling information, such as identifiers for the ranging signals, may likewise be independent determined by each UE based on the UE IDs. The order of UE IDs and number of responder UEs provided in the initial message may also be used to determine the timing instances of signaling and signaling information. The UEs, for example, may use a common multivariable deterministic function with the UE IDs as inputs to each separately derive the timing instance for itself and the other UEs in the ranging session.