Radar systems and methods for generating mixed signal chirps are provided. An example radar system includes a set of transmitters including a plurality of subsets of transmitters; and a processor coupled to the set of transmitters. In operation, the processor applies a beamforming operation on outputs of transmitters within each subset of transmitters, in which a plurality of beamforming operations are respectively applied to the plurality of subsets of transmitters; applies a first multiple input-multiple output (MIMO) scheme to the subsets of transmitters; and applies a second MIMO scheme to the subsets of transmitters that share a common transmitter. The first MIMO scheme may be Doppler division multiple access (DDMA), and the second MIMO scheme may be one of time division multiple access (TDMA) and frequency division multiple access (FDMA).