I don't have OEM radar. Well, but I want one.
So I bought a cheepo 15USD one and decided to integrate it with Dudu (or any other headunit that follows Raise protocols).

The radar is transmitting all sensors in one PWM burst repeated every set interval. Here's at idle:

Spent some time to decrypt it and time it (there are some reverse engineering results on the Internet, not valid anymore as now they use specialised decoder in the screen panel, so protocol has changed). Warning, if you use esp32, radar module sends 5V, so resistor divider to 3.3V is a must!
Hooked and programmed esp32c3 supermini and after painfull analysis got sensors in centimeters.
Then same esp32 translates this to raise Toyota rav4 protocol (which also changed a bit since last time we cracked it) and voila, with two sensors connected:

The front also works, triggering the overlay also works. Works in 360, can't show the pic as Dudu is on the bench with no camera connected.
Goal: create a device that takes cheap radar sensors, injects into canbox stream to Dudu. Canbus - canbox - radar esp32 - Dudu7.
I am familiar with raise Toyota and PSA but for VW and other canboxes - looking for people who have them with OEM radar to send me canbus logs!