An apparatus is disclosed for concurrent wireless communication and object sensing. In an example aspect, the apparatus includes one or more antennas and a wireless transceiver coupled to the one or more antennas. The wireless transceiver is configured to transmit, via the one or more antennas, a communication and sensing signal during a given uplink time slot. The communication and sensing signal comprises an uplink signal associated with the given uplink time slot and a radar signal. The radar signal temporally overlaps at least a portion of the uplink signal.