Embodiments are presented herein of apparatuses, systems, and methods for a wireless device to perform sensing applications using communication signals. The first wireless device may determine to perform a sensing application and to perform the sensing application using a communication signal to be transmitted to a second device. In other words, the first wireless device may use a transmission that is scheduled for communication purposes to additionally perform sensing of one or more types. Example sensing or radar-like applications include estimating distance, motion, and/or angle to one or more objects or structures in the vicinity of the first wireless device. After transmitting the communication signal to the second wireless device, the first wireless device may receive a reflection of the communication signal. The first wireless device may use the reflection to perform the sensing application.