The gate drive output transient properties of conventional power semiconductors (Silicon MOSFET, Silicon-Carbide MOSFET, and Silicon IGBT) have been studied for online junction temperature (T j ) sensing. This method utilizes the semiconductor intrinsic T j -dependent characteristics and the gate drive output dynamics. In this paper, the method is applied to Gallium Nitride (GaN) high electron mobility transistors (HEMTs). To demonstrate the GaN HEMT T j sensing, two passivated die HEMTs are implemented in a half-bridge and driven by two integrated push-pull type gate drives. The gate drive turn-on current transient is used for GaN HEMT T j sensing. The "gate drive-HEMT" switching properties are modeled to explain the T j -dependent gate drive output dynamics. Experimental results are compared with LTSpice simulations.