Methods and systems for vehicle sensor compensation are provided. A sensor is configured to at least facilitating obtaining sensor data pertaining to an object in proximity to the vehicle. The sensor data includes a measured azimuth angle value for the object. A processor is coupled to the sensor. The processor is coupled to the sensor, and is configured to at least facilitate estimating a misalignment angle for the sensor using the sensor data and generating a correction factor for the measured azimuth angle value using the misalignment angle.