Apparatuses, methods, and systems are disclosed for sidelink ranging for positioning reference signal types. One apparatus (1100) includes a transceiver (1125) that receives a positioning reference signal (“PRS”) configuration for at least one PRS type for transmitting a PRS to at least one second network device, receives a resource pool configuration for transmitting the PRS associated with relative positioning measurements, and receives a multiplexing configuration for multiplexing a physical sidelink control channel (“PSCCH”) with the PRS. The apparatus (1100) includes a processor (1105) that multiplexes the PSCCH with the PRS according to the multiplexing configuration. The transceiver (1125) transmits the multiplexed PSCCH and PRS to the at least one second device according to the PRS configuration and the resource pool configuration.