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Joint radar and communication (JRC) technology is growing in importance for both commercial and military applications. These two systems are preparing to share and reuse a lot of common functionalities, such as steerable millimeter-wave antenna arrays. Motivated by this growing overlap the community is envisioning a unified platform for communication and radar sensing that cooperate instead of compete for resources. We will discuss key design challenges for creating such a unified platform and a real-world automotive application, where space and cost constraints are advancing this technology closer to reality.