Certain aspects of the present disclosure provide techniques for user equipment (UE) autonomous sidelink resource selection. A method that may be performed by a UE includes performing autonomous sidelink resource selection. The selection includes excluding resources, from a first resource set, associated with transmissions at a signal strength above a signal strength threshold to form a second resource set. The selection includes determining a resource amount in the second resource set is at or above a threshold percentage of a resource amount in the first resource set. The selection includes excluding, from the second resource set, resources associated with physical sidelink control channels (PSCCHs) without excluding resources associated with physical sidelink shared channels associated with the PSCCHs to form a third resource set. The selection includes randomly selecting resources for a PSCCH transmission from the third resource set. The method includes sending the PSCCH transmission using the randomly selected resources.