Characterizing the performance trade-offs between sensing and communication subsystems is essential for enabling integrated sensing and communication systems. Various metrics exist for each subsystem; however, this study focuses on the ergodic capacity of the communication subsystem. Due to the complexity of deriving the sensing mean square error (MSE) and the inapplicability of the Bayesian Cramér-Rao Bound to channels with discrete or mixed distributions, this work proposes a Poincaré lower bound on the sensing MSE to address these issues. An achievable inner bound for the rate-sensing trade-off in a fading multiple-input multiple-output channel with additive white Gaussian noise and blockage probability is established. In addition, a strategy that is asymptotically optimal for sensing is provided.