Aspects relate to group-based positioning reference signal (PRS) broadcast in a wireless communication network. Wireless communication devices communicating over a sidelink channel in the wireless communication network may be grouped into one or more positioning groups. Within each positioning group, a respective order of the wireless communication devices in the positioning group may be identified. The wireless communication devices in a positioning group may then communicate PRSs therebetween over the sidelink channel based on the order of wireless communication devices in the positioning group.