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In conventional Doppler-division multiplexing (DDM) and range-division multiplexing (RDM) multiple-input multiple-output (MIMO) radar systems, the unambiguous velocity and range are constrained by the number of transmitted antennas. This paper proposes an approach to resolve this limitation for automotive radar applications. By introducing a frequency offset to disrupt the symmetry of the range-Doppler spectrum, we mitigate the impact of random phase errors in phase modulation. Additionally, we incorporate empty bands in both the fast-time and slow-time dimensions to separate targets. Simulation results validate the effectiveness of the proposed approach.