An access point station (AP) configured for wireless local area network (WLAN) sensing may be configured to perform a sensing measurement setup with a non-AP station (non-AP STA). The sensing measurement setup may comprise an exchange of sensing measurement request and response frames to establish sensing measurement parameters for one or more sensing measurement instances including trigger-based and non-trigger based sensing measurement instances. The AP may perform sensing measurements with the non-AP STA by transmitting and/or receiving one or more null-data packets (NDPs) for a sensing measurement instance. The NDPs may be configured in accordance with the sensing measurement parameters. For performing a non-trigger based sensing measurement instance when the AP is operating a sensing responder and when reporting was indicated in a sensing measurement setup request frame received from the non-AP STA, the AP may encode a sensing measurement report for transmission to the non-AP STA.