High affinity receptor for semaphorins 3C, 3F, VEGF-165 and VEGF-145 isoforms of VEGF, and the PLGF-2 isoform of PGF. Heterodimer with NRP1. Binds PLXNB1 (By similarity). Expressed in developing CNS, PNS and in some nonneural tissues including limb buds, developing bones, muscles, intestinal epithelium, kidney, lung and submandibular gland. The expression pattern is very dynamic and is developmentally regulated. The tandem CUB domains mediate binding to semaphorin, while the tandem F5/8 domains are responsible for heparin and VEGF binding. Belongs to the neuropilin family.