Inter-system interference may limit the performance of co-existing systems in dense heterogeneous wireless networks. Context-aware waveform design can profitably overcome this limitation. However, the latter substantially depends on degreesof-freedom (DoF) sensing mechanisms. In this work, we show that total least-squares (TLS)-based waveform design is robust against sensing uncertainties. Given the equivalence of minimum norm and TLS, the latter exhibits the good properties of linear predictors, which are of paramount importance to guarantee minimum inter-system interference and detectability by neighboring nodes. Additionally, since derived solution relies on orthogonal projector onto the so-called noise subspace, we can efficiently and iteratively construct an orthogonal waveform-book enabling the presented transmission scheme in multi-carrier scenarios. Simulation results are presented to support our theoretical contributions, and to highlight any potential advantage of proposed solution in crowded heterogenous wireless networks. Index Terms-Opportunistic communications, distributed networks, total least-squares, sensing uncertainties, waveform design.