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In this study, we fabricated a 94-GHz transceiver module for a millimeter-wave (MMW) frequency modulation continuous wave (FMCW) radar sensor. The transceiver modules consist of a waveguide voltage-controlled oscillator (VCO) and Rx module using a single balanced mixer. We designed a mixer with a conversion loss of 6.4 dB, without using an amplifier. Also, the waveguide VCO consisted of an InP Gunn diode, a varactor diode, two bias posts with LPF, and a Magic Tee for the MMW radar transceiver. The fabricated VCO has a tuning range of 1280 MHz by a varactor bias of 0~20 V, 1.69% linearity range of 680 MHz, and current consumption of 154 to 157 mA. The completed module has a good conversion loss of 10.6 dB with an LO power of 11.4 dBm at 94 GHz. With this RF and LO input power, the conversion loss was maintained between 10.2-11.5 dB in the RF frequency range of 93.67-94.95 GHz.