Abstract: A retroreflector tracking and sensing technique is provided. Systems may include a laser source, optical component(s), and a beam steering component disposed along an optical transmit path. The optical component(s) may be disposed between the laser source and the beam steering component (such as a mirror coupled to an actuator). The systems may include a position-sensitive detector (PSD). The beam steering component, one or more of the optical component(s), and the PSD may be disposed along an optical return path. The optical component(s) in the optical return path may be disposed between the beam steering component and the position-sensitive detector. The PSD may be operably coupled to a position tracking analyzer and an optical sensing analyzer. Electrical signals generated by the PSD may be configured to be used for retroreflector tracking and/or optical sensing.