In the existing literature on joint timing and frequency synchronization of orthogonal time frequency space modulation (OTFS), practically infeasible impulse pilot with large peak-to-average power ratio (PAPR) is deployed. Hence, in this paper, we propose a timing offset (TO) and carrier frequency offset (CFO) estimation for OTFS over a linear time-varying (LTV) channel, using a low PAPR pilot structure. The proposed technique utilizes the recently proposed practically feasible pilot structure with a cyclic prefix (PCP). We exploit the periodic properties of PCP in both delay and time domains to find the starting point of each OTFS block. Furthermore, we propose a two-stage CFO estimation technique with over an order of magnitude higher estimation accuracy than the existing estimator using the impulse pilot. In the first stage, a coarse CFO estimate is obtained which is refined in the second stage, through our proposed maximum likelihood (ML) based approach. The proposed ML-based approach deploys the generalized complex exponential basis expansion model (GCE-BEM) to capture the time variations of the channel, absorb them into the pilot and provide an accurate CFO estimate. Since our proposed synchronization technique utilizes the same pilot deployed for channel estimation, it does not require any additional overhead. Finally, we evaluate the performance of our proposed synchronization technique through simulations. We also compare and show the superior performance of our proposed technique to the only other existing joint TO and CFO estimation method in OTFS literature.