Apparatuses, systems, and methods for synchronization and resource allocation for sidelink positioning, e.g., in 5G NR systems and beyond. A device, e.g., a UE or an LMF, may be configured to transmit, to a plurality of wireless devices, an anchor selection request for a sidelink positioning procedure for a target UE. The device may be configured to receive, from one or more wireless devices of the plurality of wireless devices, an anchor selection response. The device may be configured to select based, at least in part, on the anchor selection responses, one or more anchor devices from the one or more wireless devices.