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The historical development and current state-of-the-art of various joint wireless communication and radar sensing systems are reviewed and discussed in this study. Different kinds of systems are categorised according to their modulation waveforms and duplex schemes. Pros and cons of each category are highlighted. To showcase the current research advances, several demonstration systems are introduced with emphasis on proposed research contributions in this emerging area, and their performances are compared with respect to both communication and radar modes. Also, a number of challenges are identified for the near future system developments and applications.