A radar system uses multiple-beam maximum likelihood estimation (MLE) during both search and tracking operations. During search, a four beam sequential beam cluster may be used to search for targets in a region-of-interest. During tracking, a three beam triad may be used to track one or more detected targets. In some embodiments, a beam selector switch may be used to allow two offset receive beams to time share a beamformer output port to generate the four beam sequential cluster.