In this paper, we dive into the exciting world of wireless communication, focusing on how millimeter-wave technology and Multiple-Input Multiple-Output phased array antennas are shaping the future of 5G and the upcoming 6G technologies. We cover the latest advancements in millimeter-wave and beamforming technologies, emphasizing their role in enhancing network security and efficiency in automotive vehicles through dual radar communication. Our discussion spans the benefits, applications, challenges, and solutions of these technologies individually from millimeter-wave to beamforming technologies and joint radar communications, alongside a look at their theoretical and practical implementations. We emphasize the integration of beamforming technology in joint radar communications for future automotive vehicles and its impact on automotive systems, smart cities, and the Internet of Things (IoT). Looking ahead, we discuss the potential of these technologies to transform future technology landscapes while also addressing the security implications of merging communication and radar capabilities. This paper aims to provide a clear view of the advancements and prospects of millimeter-wave, beamforming, and dual radar communication technologies.