  We study a planar Josephson junction under an applied DC voltage bias in the
presence of an in-plane magnetic field. Upon tuning the bias voltage across the
junction, $V_{{\rm J}}$, the two ends of the junction are shown to
simultaneously host both $0$- and $\pi$-Majorana modes. These modes can be
probed using either a Scanning-Tunneling-Microscopy measurement or through
resonant Andreev tunneling from a lead coupled to the junction. While these
modes are mostly bound to the junction's ends, they can hybridize with the bulk
by absorbing or emitting photons. We analyze this process both numerically and
analytically, demonstrating that it can become negligible under typical
experimental conditions. Transport signatures of the $0$- and $\pi$-Majorana
states are shown to be robust to moderate disorder.
