A radar data acquisition circuit comprising: a radar receiver to receive radar data representing a radar scene in response to a sequence of extended sampling waveform frames that includes multiple sampling waveform subframes; and a first processor; configured with stored program instructions to generate one or more replacement sampling waveform subframes to include in an extended sampling waveform frame of the sequence based at least in part upon one or more radar parameters of radar data received using the sequence of extended sampling waveform frames.