ICAO Doc 8168 "Procedures for Air Navigation Services - Aircraft Operations - Volume I - Flight Procedures" states under 2.1.3 Types of SID:
Track guidance may be provided by a suitably located facility (VOR or NDB) or by RNAV.
To answer your question: RNAV/RNP SIDs are considered procedures with track guidance.
The better your tracking is the smaller ...
In ICAO DOC 9905 (Required Navigation Performance Authorization Required Procedure Design Manual) you can find the following definition in Chapter 2.1
RNP APCH versus RNP AR APCH
2.1.1 RNP APCH is defined as an RNP approach procedure that requires a lateral TSE of +/-1 NM in the initial,
intermediate and missed approach segments (MAS) and a lateral ...