Disclosed are techniques for wireless communication. In an aspect, a wireless node establishes sidelink connections with a set of UEs. The wireless node transmits, to a network component, a request for sidelink resources for a sidelink position estimation procedure associated with the set of UEs. The network component determines an available sidelink resource pool for the sidelink position estimation procedure in response to the request. The network component transmits, to the wireless node in response to the request, an indication of the available sidelink resource pool for the sidelink position estimation procedure. The wireless node transmits, to each UE in the set of UEs, a sidelink resource configuration that is based on the available sidelink resource pool for the sidelink position estimation procedure.