In the realms of 5G and the upcoming 6G communications, the millimeter-wave bands offer substantially greater bandwidth. However, due to their propagation characteristics, aligning antennas becomes a challenging issue, particularly at the node side in industrial and vehicular network applications. Angle-scanning antennas can significantly enhance communication reliability or provide new possibilities for spatial multiplexing. Previous studies have predominantly concentrated on frequency-scanning antennas characterized by either low-gain individual units or expensive digital arrays. Consequently, there has been a scarcity of solutions that are both cost-effective and high-gain. In this study, a method is proposed for achieving frequency scanning by extending the feed lines between elements. Based on this approach, a millimeter-wave high-gain serial-feed frequency-scanning antenna is developed. This antenna operates within the 60–64 GHz millimeter-wave ISM (Industrial, Scientific, and Medical) band and is capable of performing a 10