We demonstrate a fully solid-state beam scanner that incorporates a Si <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">3</sub> N <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">4</sub> photonic integrated switch array, a collimator lens, and a lithographically patterned diffraction grating. The off-chip components enable nearly circular output beams under the reduced system complexity. By manipulating the optical switch array and tuning the input wavelength, two-dimensional beam steering with 32 × 23 = 736 resolvable spots across a 14.3°×9.9° field of view (FOV) is realized. Furthermore, the coherent ranging within 18 m is demonstrated experimentally by utilizing the triangular frequency modulation. The tested results validate the feasibility of the proposed beam scanner, which might offer a flexible, scalable, and easily-implemented solution for the solid-state frequency modulated continuous-wave (FMCW) LiDAR.