A simple linear interpolation on implied variance along iso-moneyness lines is enough to guarantee that there is no arbitrage between maturities as long as the input market data is arbitrage free.
Just do a linear interpolation on
$$
T \mapsto \sigma(m F(T), T)^2 T
$$
where $\sigma(K, T)$ is the implied volatility for strike $K$ and maturity $T$, $F(T)$ is the forward for maturity $T$, and $m$ is the option moneyness.
If there are discrete fixed dividends, then start by working out the resulting affine relationship
$$
F(T) = a(T) S_0 + b(T).
$$
Then, do the linear interpolation on
$$
T \mapsto \sigma(b(T) + m (F(T) - b(T)), T)^2 T .
$$
This will guarantee that there is no arbitrage between volatilities before and after ex-dividend dates.