A sidelink user equipment (UE) limits sensing of received sidelink communications during a sensing window. The UE selects resources for a future transmission from a resource pool that is based on the sensed received sidelink communications. The UE also sends the future transmission on the selected resources. Limiting sensing may result from reducing a maximum distance between reservations to less than 32 logical slots. Limiting sensing may be sensing with a reduced sensing duty cycle with discontinuous sensing or sensing for a period of time in response to a trigger. The UE may perform partial sensing for periodic traffic, and limit sensing for aperiodic traffic.