This disclosure provides systems, methods, and devices for wireless communication that support multiple-transmission and reception point (multi-TRP) based positioning. In some aspects, a method includes transmitting, by a first user equipment (UE) including a first set of transmission and reception points (TRPs), a first request for a first sidelink (SL) positioning session. The first request indicates a multi-TRP positioning session is enabled. The method also includes receiving, from a second UE including a second set of TRPs, a first response based on the first request. The first response indicates a number of TRPs of the second set of TRPs available for the first SL positioning session. Other aspects and features are also claimed and described.