This document describes techniques and systems of multiple-target, simultaneous beamforming for four-dimensional (4D) radar systems for efficient angle estimation in two dimensions with a high dynamic range. For example, a processor can use electromagnetic (EM) energy received by a two-dimensional (2D) array to determine first angles in a first dimension associated with one or more objects. The processor can then determine a subspace projection matrix using the first angles without an estimate of the power of noise or interference signals in the received EM energy. Using the subspace projection matrix, the processor can determine an interference-orthogonal subspace projection-based beamformer. With the interference-orthogonal subspace projection-based beamformer, the processor can determine the desired signal output from an adaptive beamformer for the EM energy and second angles corresponding to respective first angles for the objects.