Aspects of the present disclosure are directed to radar and radar processing. As may be implemented in accordance with one or more embodiments involving multi-input multi-output (MIMO) co-prime radar signals transmitted by a plurality of transmitters and reflected from at least one target, the reflected radar signals are processed by resolving ambiguities associated with a range-Doppler detection based on unique pulse repetition frequencies (PRF)s associated with respective chirp groups of the reflected radar signals. Phase compensation is applied to compensate for motion-induced phased biases and, thereafter, Doppler estimates are reconstructed to provide a dealiased version of the reflected radar signals.