In radar sensing, the self-ambiguity function of the probing waveform plays a crucial role in the resolvability and detection of multiple targets. In the recent Zak-OTFS based radar literature, Gaussian pulse shaping filter has been considered, and it has been shown to offer better range/velocity estimation performance compared to the traditional chirp waveform in scenes with multiple targets. While the self-ambiguity function with Gaussian filter has very low side lobes, its main lobe is wide which compromises resolvability and performance. Motivated by this, we seek filters with better ambiguity characteristics. Specifically, we explore two other known filters, namely, sinc and Gaussian-sinc (GS) filters, and demonstrate that these filters offer better performance compared to Gaussian filter under different scenarios and receiver processing. Towards demonstrating this, we derive closed-form expressions for the self-ambiguity functions of Zak-OTFS waveform with sinc and GS filters. The ambiguity functions of sinc and GS filtered waveforms have narrow main lobes, resulting in better resolvability in scenes with densely populated targets for the basic peak-detection based receiver. The ambiguity function of Gaussian filtered waveform has very low sidelobes, resulting in better performance in sparsely populated scenes. When a receiver with inter-target interference mitigation is used, the sinc and GS filters perform better in both dense and sparsely populated scenes compared to Gaussian filter.