Methods, systems, and devices for wireless communications are described. A first user equipment (UE) may transmit, to a device, a request to transmit a sidelink message to a second UE. The first UE may receive, from the device and in response to the transmitted request, an indication of one or more configured sidelink resources allocated to the first UE. The configured sidelink resources may be allocated to the first UE from a pool of sidelink resources configured for a sensing-based channel access procedure. The UE may transmit the sidelink message to the second UE on at least one of the configured sidelink resources associated with the received indication.