Abstract: Techniques for wireless communications are described. A communication device, such as a user equipment (UE) may determine a resource usage level in a wireless communications system. Additionally or alternatively, the UE may determine a transmission property associated with sidelink communication at the UE. The UE may adjust, based on the determined resource usage level in the wireless communications system or the determined transmission property associated with the sidelink communication at the UE, or a combination thereof, a sensing mode of a sensing procedure or a sensing parameter of the sensing procedure, or a combination thereof. In some examples, the UE may identify a set of resources used for the sidelink communication at the UE based on the adjusted sensing mode or the adjusted sensing parameter, or a combination thereof. The UE may perform the sidelink communication based on the sensing mode or the sensing parameter, or a combination thereof.