Sensing emerges as a critical challenge in 6G networks, which require simultaneous communication and target sensing capabilities. State-of-the-art super-resolution techniques for the direction of arrival (DoA) estimation encounter significant performance limitations when the number of targets exceeds antenna array dimensions. This paper introduces a novel sensing parameter estimation algorithm for orthogonal frequencydivision multiplexing (OFDM) multiple-input multiple-output (MIMO) radar systems. The proposed approach implements a strategic two-stage methodology: first, discriminating targets through delay and Doppler domain filtering to reduce the number of effective targets for super-resolution DoA estimation, and second, introducing a fusion technique to mitigate sidelobe interferences. The algorithm enables robust DoA estimation, particularly in high-density target environments with limitedsize antenna arrays. Numerical simulations validate the superior performance of the proposed method compared to conventional DoA estimation approaches.