Provided herein is a system and method for sensor cleaning and positioning of the sensor on a vehicle. A system can include a mount attached to a vehicle; a sensor base; a sensor supported on the sensor base; a boom connecting the mount to the sensor base; and a tether, where the tether is connected at a first end, at least indirectly, to the sensor, and at a second end to a structure within the vehicle. The system may include a sensor cleaning array of nozzles, where combined spray patterns of the array of nozzles cover a sensor window of the sensor about a field-of-view of the sensor.