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This paper aims to explore the feasibility of the spectrum sharing between the communication and radar system. We investigate the full-duplex (FD) joint radar and communication multi-antenna system in which a node labeled ComRad with a dual communication and radar capability is communicating with a downlink and an uplink users, as well as detecting the target of interest simultaneously. Considering a full interference scenario and imperfect channel state information (CSI), the fundamental performance limits of the FD JRC system are analyzed. In particular, we first obtain the downlink rate when the radar signals act as interference. Then, viewing the uplink channel and radar return channel as a multiple access channel, we propose an alternative successive interference cancellation scheme, based on which the achievable uplink communication rate is obtained. For the radar operation, we first derive the general expression of the estimation rate, which quantifies how much information is obtained about the target in terms of the direction, the range and the velocity. Considering the uniform linear antenna array and linear frequency modulated radar signals, we further obtain the exact closed-form estimation rate. Numerical simulations reveal that the joint manner of the communication and radar operations achieves larger rate regions compared to that of working independently.