<?xml version="1.0" encoding="UTF-8"?>

<!--XBRL Document Created with the Workiva Platform-->
<!--Copyright 2026 Workiva-->
<!--r:019d4989-9d32-7606-a927-edfa0c8c54af,g:08c48ea5-77a2-4b6e-b915-9a76c7b5ab59-->
<link:linkbase xmlns:link="http://www.xbrl.org/2003/linkbase" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="http://www.xbrl.org/2003/linkbase http://www.xbrl.org/2003/xbrl-linkbase-2003-12-31.xsd">
  <link:roleRef roleURI="http://www.bicara.com/role/Cover" xlink:type="simple" xlink:href="bcax-20260511.xsd#Cover"/>
  <link:presentationLink xlink:role="http://www.bicara.com/role/Cover" xlink:type="extended">
    <link:loc xlink:type="locator" xlink:label="loc_dei_CoverAbstract_019d4989-9d32-7c00-aa38-d58f00214951" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_CoverAbstract"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_DocumentType_019d4989-9d32-7520-b3e9-b9410e198d46" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_DocumentType"/>
    <link:presentationArc order="1" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019d4989-9d32-7c00-aa38-d58f00214951" xlink:to="loc_dei_DocumentType_019d4989-9d32-7520-b3e9-b9410e198d46" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_DocumentPeriodEndDate_019d4989-9d32-7775-9263-91ece1bd351a" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_DocumentPeriodEndDate"/>
    <link:presentationArc order="2" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019d4989-9d32-7c00-aa38-d58f00214951" xlink:to="loc_dei_DocumentPeriodEndDate_019d4989-9d32-7775-9263-91ece1bd351a" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_EntityRegistrantName_019d4989-9d32-7953-a5b1-6509c15a1c54" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_EntityRegistrantName"/>
    <link:presentationArc order="3" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019d4989-9d32-7c00-aa38-d58f00214951" xlink:to="loc_dei_EntityRegistrantName_019d4989-9d32-7953-a5b1-6509c15a1c54" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_EntityIncorporationStateCountryCode_019d4989-9d32-77de-b65f-f6e0706bd907" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_EntityIncorporationStateCountryCode"/>
    <link:presentationArc order="4" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019d4989-9d32-7c00-aa38-d58f00214951" xlink:to="loc_dei_EntityIncorporationStateCountryCode_019d4989-9d32-77de-b65f-f6e0706bd907" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_EntityFileNumber_019d4989-9d32-702e-a25d-d8791179b1a7" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_EntityFileNumber"/>
    <link:presentationArc order="5" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019d4989-9d32-7c00-aa38-d58f00214951" xlink:to="loc_dei_EntityFileNumber_019d4989-9d32-702e-a25d-d8791179b1a7" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_EntityTaxIdentificationNumber_019d4989-9d32-7428-94bd-503d476e11d0" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_EntityTaxIdentificationNumber"/>
    <link:presentationArc order="6" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019d4989-9d32-7c00-aa38-d58f00214951" xlink:to="loc_dei_EntityTaxIdentificationNumber_019d4989-9d32-7428-94bd-503d476e11d0" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_EntityAddressAddressLine1_019d4989-9d32-7722-8f02-52ddbf42bee6" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_EntityAddressAddressLine1"/>
    <link:presentationArc order="7" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019d4989-9d32-7c00-aa38-d58f00214951" xlink:to="loc_dei_EntityAddressAddressLine1_019d4989-9d32-7722-8f02-52ddbf42bee6" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_EntityAddressAddressLine2_019d4989-9d32-7870-aec4-92cacdc6a504" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_EntityAddressAddressLine2"/>
    <link:presentationArc order="8" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019d4989-9d32-7c00-aa38-d58f00214951" xlink:to="loc_dei_EntityAddressAddressLine2_019d4989-9d32-7870-aec4-92cacdc6a504" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_EntityAddressCityOrTown_019d4989-9d32-7bcc-8ec0-7d2cd835a2ae" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_EntityAddressCityOrTown"/>
    <link:presentationArc order="9" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019d4989-9d32-7c00-aa38-d58f00214951" xlink:to="loc_dei_EntityAddressCityOrTown_019d4989-9d32-7bcc-8ec0-7d2cd835a2ae" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_EntityAddressStateOrProvince_019d4989-9d32-70ce-9cf7-dda275c48908" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_EntityAddressStateOrProvince"/>
    <link:presentationArc order="10" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019d4989-9d32-7c00-aa38-d58f00214951" xlink:to="loc_dei_EntityAddressStateOrProvince_019d4989-9d32-70ce-9cf7-dda275c48908" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_EntityAddressPostalZipCode_019d4989-9d32-7991-8a30-12768728142f" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_EntityAddressPostalZipCode"/>
    <link:presentationArc order="11" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019d4989-9d32-7c00-aa38-d58f00214951" xlink:to="loc_dei_EntityAddressPostalZipCode_019d4989-9d32-7991-8a30-12768728142f" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_CityAreaCode_019d4989-9d32-74a4-8f37-19d7c799fde5" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_CityAreaCode"/>
    <link:presentationArc order="12" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019d4989-9d32-7c00-aa38-d58f00214951" xlink:to="loc_dei_CityAreaCode_019d4989-9d32-74a4-8f37-19d7c799fde5" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_LocalPhoneNumber_019d4989-9d32-7f95-9f8e-25ed98f6b82b" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_LocalPhoneNumber"/>
    <link:presentationArc order="13" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019d4989-9d32-7c00-aa38-d58f00214951" xlink:to="loc_dei_LocalPhoneNumber_019d4989-9d32-7f95-9f8e-25ed98f6b82b" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_WrittenCommunications_019d4989-9d32-7af0-bcff-cdb93fd65d50" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_WrittenCommunications"/>
    <link:presentationArc order="14" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019d4989-9d32-7c00-aa38-d58f00214951" xlink:to="loc_dei_WrittenCommunications_019d4989-9d32-7af0-bcff-cdb93fd65d50" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_SolicitingMaterial_019d4989-9d32-7032-87da-218fabf1b3d9" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_SolicitingMaterial"/>
    <link:presentationArc order="15" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019d4989-9d32-7c00-aa38-d58f00214951" xlink:to="loc_dei_SolicitingMaterial_019d4989-9d32-7032-87da-218fabf1b3d9" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_PreCommencementTenderOffer_019d4989-9d32-7b21-ad0c-5c4029d507bd" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_PreCommencementTenderOffer"/>
    <link:presentationArc order="16" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019d4989-9d32-7c00-aa38-d58f00214951" xlink:to="loc_dei_PreCommencementTenderOffer_019d4989-9d32-7b21-ad0c-5c4029d507bd" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_PreCommencementIssuerTenderOffer_019d4989-9d32-7a02-9686-7ea5080d13dc" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_PreCommencementIssuerTenderOffer"/>
    <link:presentationArc order="17" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019d4989-9d32-7c00-aa38-d58f00214951" xlink:to="loc_dei_PreCommencementIssuerTenderOffer_019d4989-9d32-7a02-9686-7ea5080d13dc" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_Security12bTitle_019d4989-9d32-70e8-b63c-79910c55bf4f" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_Security12bTitle"/>
    <link:presentationArc order="18" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019d4989-9d32-7c00-aa38-d58f00214951" xlink:to="loc_dei_Security12bTitle_019d4989-9d32-70e8-b63c-79910c55bf4f" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_TradingSymbol_019d4989-9d32-7af4-b744-4a54d93a2c36" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_TradingSymbol"/>
    <link:presentationArc order="19" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019d4989-9d32-7c00-aa38-d58f00214951" xlink:to="loc_dei_TradingSymbol_019d4989-9d32-7af4-b744-4a54d93a2c36" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_SecurityExchangeName_019d4989-9d32-7bbe-89e5-5d253fba2c90" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_SecurityExchangeName"/>
    <link:presentationArc order="20" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019d4989-9d32-7c00-aa38-d58f00214951" xlink:to="loc_dei_SecurityExchangeName_019d4989-9d32-7bbe-89e5-5d253fba2c90" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_EntityEmergingGrowthCompany_019d4989-9d32-7cb1-9282-af3ebdb5b65e" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_EntityEmergingGrowthCompany"/>
    <link:presentationArc order="21" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019d4989-9d32-7c00-aa38-d58f00214951" xlink:to="loc_dei_EntityEmergingGrowthCompany_019d4989-9d32-7cb1-9282-af3ebdb5b65e" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_EntityExTransitionPeriod_019d4989-9d32-78ec-b6f8-a8c4afa021dc" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_EntityExTransitionPeriod"/>
    <link:presentationArc order="22" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019d4989-9d32-7c00-aa38-d58f00214951" xlink:to="loc_dei_EntityExTransitionPeriod_019d4989-9d32-78ec-b6f8-a8c4afa021dc" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_AmendmentFlag_019d4989-9d32-7d57-8610-8ba2cee68508" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_AmendmentFlag"/>
    <link:presentationArc order="23" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019d4989-9d32-7c00-aa38-d58f00214951" xlink:to="loc_dei_AmendmentFlag_019d4989-9d32-7d57-8610-8ba2cee68508" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
    <link:loc xlink:type="locator" xlink:label="loc_dei_EntityCentralIndexKey_019d4989-9d32-7491-ae3a-cdec40e8fdfb" xlink:href="https://xbrl.sec.gov/dei/2025/dei-2025.xsd#dei_EntityCentralIndexKey"/>
    <link:presentationArc order="24" xlink:arcrole="http://www.xbrl.org/2003/arcrole/parent-child" xlink:from="loc_dei_CoverAbstract_019d4989-9d32-7c00-aa38-d58f00214951" xlink:to="loc_dei_EntityCentralIndexKey_019d4989-9d32-7491-ae3a-cdec40e8fdfb" xlink:type="arc" preferredLabel="http://www.xbrl.org/2003/role/terseLabel"/>
  </link:presentationLink>
</link:linkbase>
