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This paper proposed a Pulse-Agile-Phase-Coding slow-time MIMO (PAPC-st-MIMO) waveform, where the phase-coded signal is utilized as the intra-pulse modulation of the slow-time MIMO waveform. Firstly, the signal model of the proposed waveform is derived. To improve the orthogonality of the phase-coded waveform sets, a novel hybrid evolutionary algorithm based on Cyclic Algorithm New (CAN) is proposed. After the optimization process of the phase-coded waveform sets, the signal processing method of the PAPC-st-MIMO waveform is derived. Finally, the effectiveness of the proposed method is verified with a simulation experiment. The mitigation ratio of the near-range detection waveform can achieve −30 dB, while the long-range detection waveform can achieve −35 dB. This approach ensures waveform orthogonality while enabling the slow-time MIMO waveform to achieve distance selectivity. By conducting joint pulse-Doppler processing across multiple range segments, range ambiguity can be suppressed, increasing the system's Pulse Repetition Frequency (PRF) without introducing ambiguity. [ABSTRACT FROM AUTHOR]