A frequency-modulation, continuous-wave (FMCW) radar system may include a transmit array including a number of transmit antenna elements in a first dimension that is greater than a number of transmit antenna elements in a second dimension. The transmit array may output an FMCW transmit beam that illuminates an area with a greater extent in a first illumination dimension than in a second illumination dimension. The radar system may include a transmit electronics module that electronically scans the transmit beam in the second illumination dimension, and a receive array comprising receive antenna elements. The radar system may include a receive electronics module that generates, using a plurality of receive signals, a plurality of receive beams within the area illuminated by the transmit beam and electronically scans each receive beam in the second illumination dimension such that scanning of each receive beam is coordinated with scanning of the transmit beam.