Apparatuses, systems, and methods for sensing rotary positions are provided. For example, an example rotary position sensor includes a rotor assembly having a rotor assembly opening for securing the rotor assembly to a shaft structure, a stator assembly having a stator assembly opening for receiving the shaft structure, and a base assembly secured to the stator assembly. In some examples, the base assembly (such as, but not limited to, a PCB assembly) comprises a plurality of primary coil elements printed on a first side of the base assembly and a plurality of secondary coil elements printed on a second side of the base assembly.