Certain aspects of the present disclosure to techniques for sidelink re-discovery without repeating beamforming in millimeter wave (e.g., Frequency Range 2) bands. For example, a Tx UE may complete a first beam training with a Rx UE. The Tx UE may generate a discovery message that includes at least one of: an indication of a beam training reference signal (BT-RS) sequence index of the first beam training; an indication of a timer for changing the BT-RS sequence; or an indication of a second BT-RS sequence to be used by the Tx UE before an expiration of the timer. The second BT-RS sequence may be indicated as an index to a set of BT-RS sequences including the BT-RS sequence associated with the first beam training. The Tx may transmit the generated discovery message to the Rx UE.