A vehicular sensing system includes at least one radar sensor disposed at a vehicle and having a field of sensing exterior of the vehicle. The radar sensor includes multiple transmitting antennas and multiple receiving antennas. The at least one radar sensor is part of a suite of sensors that includes a forward viewing camera. Multiple scans of captured radar data are transferred from the at least one radar sensor to an electronic control unit. The system, via processing of transferred multiple scans of captured radar data and transferred image data, detects presence of a plurality of objects, generates a virtual antenna array with a virtual antenna aperture larger than a physical antenna aperture of the at least one radar sensor, and tracks the detected objects. The system, based at least in part on tracking detected objects, provides an output for at least one driving assist system of the vehicle.