For automotive millimeter radar, a method using a multi-input multi-output (MIMO) array antenna is essential for high angle resolution with module miniaturization. MIMO enables us to extend an antenna array with virtual antennas, and a large antenna array aperture enables high resolution angle estimation. Time division multiplex (TDM) MIMO, which is a method to generate virtual array antennas, makes it easy to design radar system integrated circuits. However, this method leads to two issues in signal processing; the phase error reduces the accuracy of angle estimation of a moving target, and the maximum detectable velocity decreases in inverse proportion to the number of Tx antennas. We analytically derived this phase error and proposed a method to correct the error. Because the phase error of TDM-MIMO is proportional to the target velocity, accurate estimation of the target velocity is an important issue for phase error correction. However, the decrease of the maximum detectable velocity in TDM-MIMO reduces the accuracy of both velocity estimation and angle estimation. To solve these issues, we propose new signal processing for range-velocity estimation for TDM-MIMO radar. By using the feedback result of the estimated direction of arrival (DoA), we can avoid decreasing the maximum detectable velocity. We explain our method with our simulation results.