Cell surface receptor for PLXNB1 that plays an important role in cell-cell signaling (By similarity). Regulates GABAergic synapse development (By similarity). Promotes the development of inhibitory synapses in a PLXNB1-dependent manner (By similarity). Modulates the complexity and arborization of developing neurites in hippocampal neurons by activating PLXNB1 and interaction with PLXNB1 mediates activation of RHOA (By similarity). Homodimer (By similarity). Interacts with PLXNB1 (By similarity). Belongs to the semaphorin family.