The exchange of resource allocation assistance information between a requester User Equipment (UE) and an assistant UE allows the requester to make better resource allocation decisions. The assistance information may include a blacklist, a whitelist, resource allocation information, a candidate resource set, and measurement information, for example. Both UEs may have an assistance configuration to assist in the exchange of resource allocation assistance information, that may be obtained from a third apparatus, such as a base station. The configuration may include information related to when to trigger assistance, identities of UEs, and types of assistance information, for example. The requester may, based on the assistance information received, modify a candidate resource set at a Medium Access Control (MAC) layer. The requester may, at the MAC layer, determine a configured sidelink grant for a selected destination using assistance information targeting this destination.