Enables semaphorin receptor activity. Acts upstream of or within dichotomous subdivision of terminal units involved in salivary gland branching; neuron projection morphogenesis; and regulation of smooth muscle cell migration. Located in membrane. Is expressed in several structures, including central nervous system; cranial nerve; genitourinary system; lung; and sensory organ. Orthologous to human PLXNA1 (plexin A1). [provided by Alliance of Genome Resources, Apr 2022]