With the upcoming trends in autonomous driving and urban air mobility, the number of self-navigating vehicles will increase, since they are foreseen for deliveries as well as autonomous taxis among other applications. To this end, a multitude of on-board systems for wireless communication, environment sensing, and localization will become mandatory. This is particularly true for unmanned aerial vehicles (UAVs), since participation in the airspace requires compatibility to and safe interaction with established users. A certain number of systems are already in-use and occupy defined spectra as well as installation space, which limits the freedom in the design of new systems. The miniaturization of aerial vehicles like drones for delivery services further reduces the degrees of freedom, especially in terms of size and weight of any additional equipment. Hence, in this paper a joint approach of the design of joint communication, sensing and localization for UAVs is discussed. Towards this goal, multi-mode multi-port antennas and joint waveform design are proposed as a part of the solution, when elevating autonomous driving to the third dimension.