Enables semaphorin receptor activity. Involved in axon guidance; cranial nerve structural organization; and embryonic heart tube development. Acts upstream of or within several processes, including nervous system development; regulation of axon extension involved in axon guidance; and regulation of negative chemotaxis. Predicted to be located in plasma membrane. Predicted to be part of semaphorin receptor complex. Predicted to be integral component of plasma membrane. Is expressed in several structures, including alimentary system; nervous system; and sensory organ. Orthologous to human PLXNA4 (plexin A4). [provided by Alliance of Genome Resources, Apr 2022]