Terahertz (THz) joint communication and sensing (JCS) stand as vital technologies for next-gen wireless systems. However, challenges arise from severe Doppler shifts in the THz band and peak-to-average power ratio (PAPR) issues degrading THz power amplifier (PA) efficiency. In response, this paper proposes a MIMO enhanced sensing Discrete Fourier Transform spread Orthogonal Frequency Division Multiplexing (ES-DFT-s-OFDM) radar system, tailored for THz JCS. This system promises lower PAPR than OFDM, along with an inter carrier interference (ICI) compensation method to enhance Doppler shift resilience and sensing performance.