A soil monitoring system includes a controller having a memory and a processor. The controller is configured to instruct an actuator to drive a shank to move upwardly and downwardly, such that at least one soil monitoring sensor coupled to a lateral side of the shank moves in a cyclical pattern through soil as the shank is driven to move through the soil along a direction of travel. The controller is also configured to receive multiple sensor signals from the at least one soil monitoring sensor while the at least one soil monitoring sensor is at respective depths within the soil, in which each sensor signal is indicative of at least one soil property. In addition, the controller is configured to determine a vertical profile of the at least one soil property based on the sensor signals.