A light detection and ranging (LIDAR) system comprises a laser diode; a laser diode driver circuit configured generate a laser beam using the laser diode and to frequency chirp the generated laser beam according to a frequency chirp period; a laser splitter to split the generated laser beam into N transmit laser beams pointed at different angles, wherein N is an integer greater than one, and a frequency chirp period of each of the N transmit laser beams is the frequency chirp period of the generated laser beam; and multiple return beam paths to receive N return beams and determine time of flight values for the N return beams in parallel.