Apparatus, methods, and computer program products for sidelink positioning are provided. An example method includes transmitting or receiving a reservation message reserving sidelink resources for groupcasting of one or more reference signals for a group of multiple UEs including the UE, the sidelink resources for the groupcasting comprising time division multiplexed (TDM) resources for the multiple UEs in the group of multiple UEs. The example method further includes transmitting a reference signal in a resource of the TDM resources.