  Radio positioning is an important part of joint communication and sensing in
beyond 5G communication systems. Existing works mainly focus on the mmWave
bands and under-utilize the sub-6 GHz bands, even though it is promising for
accurate positioning, especially when the multipath is uncomplicated, and
meaningful in several important use cases. In this paper, we analyze V2X
sidelink positioning and propose a new performance bound that can predict the
positioning performance in the presence of severe multipath. Simulation results
using ray-tracing data demonstrate the possibility of sidelink positioning, and
the efficacy of the new performance bound and its relation with the complexity
of the multipath.
