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Various communication systems may benefit from improved positioning estimation. For example, certain embodiments may benefit from improved radio-based positioning estimation of a target user equipment using an observed time difference of arrival. A method, in certain embodiments, may include receiving at a target user equipment from a network entity a list comprising a plurality of supporting user equipment and a plurality of base stations. The method may also include receiving at the target user equipment supporting positioning reference signals via sidelink transmission from the plurality of supporting user equipment and positioning reference signals from the plurality of base stations. In addition, the method may include taking observed time difference of arrival measurements or determining a position estimate at the target user equipment based on the positioning reference signals and the supporting …