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Conventional direction-of-arrival (DOA) estimation methods for multiple-input multiple-output (MIMO) joint sensing and communication system normally pursue high estimation accuracy and resolution by imposing orthogonal waveforms. However, such operation results in a deterioration of communication performance. In this paper, we propose a nonorthogonal waveform assisted DOA estimation algorithm, where an augmented virtual array is derived by exploiting the nonorthogonal MIMO communication waveforms, while a high communication rate can still be maintained. To estimate the round-trip sensing channels of each subcarrier, we utilize the transmitted symbols as pilot symbols, and obtain all the channel coefficients with a minimum mean square error solver. A virtual channel matrix can be formulated with these channel coefficients, which can be regarded as the samples of an augmented virtual array …