Systems, apparatuses, methods, and computer-readable media are provided for simultaneous uplink transmission from a user equipment (UE) using multiple antenna panels and/or targeting multiple transmission-reception points (TRPs). For example, techniques for codebook-based and/or non-codebook based transmission from multiple antenna panels are described. Embodiments further include techniques for codebook subset configuration. Furthermore, embodiments include techniques for power control and/or power sharing for transmissions from a UE to multiple TRPs. Other embodiments may be described or claimed.