A wireless communication device for wireless communication, comprising: a memory; and one or more processors, coupled to the memory, configured to: receive a sidelink communication on a sidelink, wherein the sidelink communication is of a type that includes at least one of a grant, data received on a resource identified by the grant, a multi-stage grant, a multi-packet grant, or a relaying communication; and transmit , on the sidelink and after a time period since receiving the sidelink communication, a feedback message, wherein the feedback message is configured to acknowledge the received sidelink communication, and wherein the time period is a minimum time period to wait before transmitting the feedback message and is based at least in part on a capability of the wireless communication device and either one of: the type of the sidelink communication or a type of the feedback message, wherein the type of the feedback message includes an acknowledgment message on a physical sidelink feedback channel, PSFCH, or physical sidelink control channel, PSCCH, or a MAC control element, MAC-CE, on a physical sidelink shared channel, PSSCH, or physical uplink control channel, PUCCH. a memory; and one or more processors, coupled to the memory, configured to: receive a sidelink communication on a sidelink, wherein the sidelink communication is of a type that includes at least one of a grant, data received on a resource identified by the grant, a multi-stage grant, a multi-packet grant, or a relaying communication; and transmit , on the sidelink and after a time period since receiving the sidelink communication, a feedback message, wherein the feedback message is configured to acknowledge the received sidelink communication, and wherein the time period is a minimum time period to wait before transmitting the feedback message and is based at least in part on a capability of the wireless communication device and either one of: the type of the sidelink communication or a type of the feedback message, wherein the type of the feedback message includes an acknowledgment message on a physical sidelink feedback channel, PSFCH, or physical sidelink control channel, PSCCH, or a MAC control element, MAC-CE, on a physical sidelink shared channel, PSSCH, or physical uplink control channel, PUCCH. receive a sidelink communication on a sidelink, wherein the sidelink communication is of a type that includes at least one of a grant, data received on a resource identified by the grant, a multi-stage grant, a multi-packet grant, or a relaying communication; and transmit , on the sidelink and after a time period since receiving the sidelink communication, a feedback message, wherein the feedback message is configured to acknowledge the received sidelink communication, and wherein the time period is a minimum time period to wait before transmitting the feedback message and is based at least in part on a capability of the wireless communication device and either one of: the type of the sidelink communication or a type of the feedback message, wherein the type of the feedback message includes an acknowledgment message on a physical sidelink feedback channel, PSFCH, or physical sidelink control channel, PSCCH, or a MAC control element, MAC-CE, on a physical sidelink shared channel, PSSCH, or physical uplink control channel, PUCCH. <EOS>