Orthogonal time frequency space (OTFS) modulation has recently emerged as an effective waveform to tackle the linear time-varying channels. In OTFS literature, approximately constant channel gains for every group of samples within each OTFS block are assumed. This leads to limitations for OTFS on the maximum Doppler frequency that it can tolerate. Additionally, presence of cyclic prefix (CP) in OTFS signal limits the flexibility in adjusting its parameters to improve its robustness against channel time variations. Therefore, in this paper, we study the possibility of removing the CP overhead from OTFS and breaking its Doppler limitations through multiple antenna processing in the large antenna regime. We asymptotically analyze the performance of time-reversal maximum ratio combining (TR-MRC) for OTFS without CP. We show that doubly dispersive channel effects average out in the large antenna regime when the maximum Doppler shift is within OTFS limitations. However, for considerably large Doppler shifts exceeding OTFS limitations, a residual Doppler effect remains. Our asymptotic derivations reveal that this effect converges to scaling of the received symbols in delay dimension with the samples of a Bessel function that depends on the maximum Doppler shift. Hence, we propose a novel residual Doppler correction (RDC) windowing technique that can break the Doppler limitations of OTFS and lead to a performance close to that of the linear time-invariant channels. Finally, we confirm the validity of our claims through simulations.