A gesture access and object impact avoidance system for a motor vehicle, includes a radar signal assembly configured to be mounted to the motor vehicle and to transmit radar signals and detect reflected radar signals, and a processor to operate in (i) a gesture access mode when the motor vehicle is not moving or is disabled from moving by controlling an access closure actuator to lock, unlock, open or close an access closure of the motor vehicle if an object is within a sensing region of the radar signal assembly and exhibits a predefined gesture, and (ii) an object impact avoidance mode when the motor vehicle is moving or enabled to move by activating a warning device or controlling an impact avoidance device actuator if an object is within a predefined distance of the radar signal assembly.