Over on YouTube Jon Kraft has been uploading videos explaining some interesting beamforming experiments he's been doing with his PlutoSDR. One experiment shows how to create a DIY monopulse tracker, which is a type of radio direction finding technique.
The PlutoSDR has two RX ports and two TX ports, and in this experiment he uses two directional antennas for the RX and one monopole antenna for the TX. Part 1 of this series explains standard phased array beam forming, and part 2 moves on to explain monopulse with adaptive tracking.
If you were interested in this, check out Jon's other videos on his channel. A recent video explains how time delays work in digital beamforming.