Analog beamforming with broadband large-scale antenna arrays in millimeter wave (mmWave) multiple input multiple output (MIMO) systems faces the beam squint problem. In this paper, we first investigate the sensitivity of analog beamforming to subarray spatial separations in wideband mmWave systems using hybrid arrays, and propose optimized subarray separations. We then design improved analog beamforming after phase compensation based on Zadoff-Chu (ZC) sequence to flatten the frequency response of radio frequency (RF) equivalent channel. Considering a single-carrier frequency-domain equalization (SC-FDE) scheme at the receiver, we derive low-complexity linear zero-forcing (ZF) and minimum mean squared error (MMSE) equalizers in terms of output signal-to-noise ratio (SNR) after equalization. Simulation results show that the improved analog beamforming can effectively remove frequency-selective deep fading caused by beam squint, and achieve better bit-error-rate performance compared with the conventional analog beamforming.