In one aspect, a method performed by an access point in a wireless local area network (WLAN), includes receiving a first ranging request message from a first device and monitoring for a second ranging request message from a second device on a channel of the WLAN. The first ranging request message includes a device identifier of the first device and the second ranging request message includes a device identifier of the second device. In response to receiving the second ranging request message, the access point combines the device identifier of the first device, first timing information associated with the first ranging request message, the device identifier of the second device, and second timing information associated with the second ranging request message into a single ranging response message. The access point then broadcasts the single ranging response message on the channel of the WLAN.