Apparatuses and methods are disclosed for sidelink ranging for positioning reference signal types. The initiating apparatus receives (1305), from an application layer, a ranging request to initiate a sidelink ranging session with a responder device along a sidelink connection and transmits (1310) a sidelink request message comprising a request to perform ranging setup and participate in the sidelink ranging session. The apparatus initiates (1315) the sidelink ranging session with the responder device in response to receiving a confirmation that the responder device will participate in the sidelink ranging session and determines (1320) completion of the sidelink ranging session with the responder device. The apparatus transmits (1325) a final ranging round message to the responder device indicating a final round of the sidelink ranging session and receives (1330) a location measurement report in response to the final ranging round message.