Receptor involved in the development of the cardiovascular system, in angiogenesis, in the formation of certain neuronal circuits and in organogenesis outside the nervous system (By similarity). Mediates the chemorepulsant activity of semaphorins. Binding to VEGFA initiates a signaling pathway needed for motor neuron axon guidance and cell body migration, including for the caudal migration of facial motor neurons from rhombomere 4 to rhombomere 6 during embryonic development (By similarity). Regulates mitochondrial iron transport via interaction (By similarity). Homodimer, and heterodimer. Developing nervous system; optic tectum (layers D and E of SGFS), amacrine cells of retina, neurites of dorsal root ganglia. Also expressed in non-neuronal cells, e.g. blood vessels in the entire embryo. Belongs to the neuropilin family.