An automotive radar system includes multiple radar antennas and a radar front end chip. The front end chip includes a plurality of phase rotators coupled to a local oscillator, wherein each phase rotator of the plurality of phase rotators is coupled to multiple digital phase modulators; a plurality of switches that couple selectable ones of the multiple digital phase modulators to respective amplifiers, each amplifier coupled to a respective antenna output; and a controller which provides digital control signals to the plurality of phase rotators, the multiple digital phase modulators, and the plurality of switches to synthesize transmit signals for each of the multiple radar antennas.