Direction of arrival (DOA) estimation plays a critical role in remote sensing, where it aids in identifying and tracking multiple targets across complex environments, from atmospheric monitoring to resource mapping. Leveraging difference covariance array (DCA) for DOA estimation has become prevalent, particularly with sparse arrays capable of resolving more targets than the number of sensors. This paper proposes a new hole-free sparse array configuration for remote sensing applications to achieve improved DOA estimation performance using DCA. By symmetrically placing a minimum redundancy array (MRA) and its complementary MRA on both sides of a sparse uniform linear array (ULA), this configuration maximizes degrees of freedom (DOFs) and minimizes mutual coupling effects. Expressions for calculating sensor positions and optimal element allocation methods to maximize DOFs are derived. Simulation experiments in various scenarios have shown the advantages of the proposed array in DOA estimation, including a strong ability to estimate multi-targets, high angular resolution, low estimation error, and strong robustness to mutual coupling.