I am reading this paper and I see that characteristic impedance does
not take frequency into account.
At frequencies above about 100 kHz to 1 MHz, the characteristic impedance can be said to be \$\sqrt{L/C}\$ but, this doesn't account for lower frequencies where the characteristic impedance is: -
$$Z_0 = \sqrt{\dfrac{R+j\omega L}{G+j\omega C}}$$
Where R is the series resistance per unit length and G is the parallel conductance per unit length.
- So, at really low frequencies we can say that \$Z_0\$ is \$\sqrt{R/G}\$.
- At mid-audio frequencies we can say that \$Z_0\$ is \$\sqrt{R/j\omega C}\$.
Here's an example of telephone cable that I calculated myself using excel: -

Extracted from my answer here.
Are these characteristic impedance equations only valid for certain
frequency range or am I wrong in assuming that characteristic
impedance will have a frequency dependency?
It has a frequency dependency for sure but, for track impedance calculations we are normally only interested in frequencies that are significantly above 1 MHz hence, \$Z_0 = \sqrt{L/C}\$.