Disclosed are techniques for determining a beam-specific timing advance for Round-Trip Time (RTT) estimation. In an aspect, a first node receives a plurality of beams transmitted by a second node on a wireless channel, selects a first beam from the plurality of beams for transmitting a timing response, determines a timing statistic, a timing difference, and a timing advance for the first beam, wherein the timing difference comprises a difference between the timing statistic and an earliest time of arrival of the plurality of beams, and wherein the timing advance comprises a multiple of the timing difference, and transmits the timing response for the first beam to the second node on the wireless channel, wherein the first node transmits the timing response after a time delay from the timing statistic of the first beam, wherein the time delay comprises a difference between a predetermined time delay and the timing advance.