A vehicular radar system includes a plurality of end-fire antennas including a first array of antennas positioned along a first plane and having a transmission end oriented in a first direction, a second array of antennas positioned along the first plane and having a transmission end oriented in a second direction that is different than the first direction, a third array of antennas positioned along a second plane above or below the first plane and having a transmission end oriented in the first direction, and a fourth array of antennas positioned along the second plane and having a transmission end oriented in the second direction. The vehicular radar system also includes at least one RFIC to control the plurality of antennas to scan for objects in the first direction, the second direction, and between the first direction and the second direction by transmitting signals of varying phases to the antennas.