Disclosed are techniques for wireless communication. In an aspect, a wireless communication device may transmit control information over one or more physical sidelink control channel (PSCCH) resources to a peer wireless communication device, wherein the control information includes sidelink positioning reference signal (SL-PRS) configuration information. The wireless communication device may transmit SL-PRS over one or more SL-PRS resources indicated by the SL-PRS configuration information to the peer wireless communication device, wherein, based on the one or more PSCCH resources and the one or more SL-PRS resources scheduled in a sidelink slot, transmission of the control information the one or more PSCCH resources and transmission of the SL-PRS over the one or more SL-PRS resources are separated in a time domain by at least a minimum time gap.