IEEE 802.11bf is the one you're looking for as far as WiFi goes. 5G and 6G are bigger than 802 but have been quite "transparently" designed with sensing in mind, as in you can read 100s of industry publications about this.

IEEE has a whole working group for standards around this stuff: https://signalprocessingsociety.org/community-involvement/in...

Here's a paper about related standards: https://ieeexplore.ieee.org/document/11142711

The paradigm itself goes back decades now. It used to be called "joint communication and sensing" in the 00s, and then it was called "integrated sensing and communications".