An electronic device may include a set of antenna panels (APs) that transmit and receive signals within a set of signal beams. A proximity sensor such as a radar sensor may gather sensor data indicative of the position an external object. The device may select an AP and a beam that maximize wireless performance in communicating with a base station while also complying with the radio-frequency exposure (RFE). The device may select the AP and the beam based on the sensor data, per-panel and per-beam projected RFE values, antenna port RFE characteristics, per-panel and per-beam transmit power limits, per-beam transmit power backoffs, an RFE lookup table, regulatory RFE limits, and antenna performance metrics. The device may transmit an RFE report to the base station that identifies some or all of this information for use in updating scheduling for the device.