Using TurboTax Online, you will be able to select an individual form as one of the print options. Select Specific Forms and Worksheets and scroll through the list until you get to the Schedule E, C, or F section of forms (depending on what type of entity had the depreciation). The depreciation worksheet should be found there.
Take a look at the following TurboTax article for more detailed instructions for printing, including printing a prior year:
How do I print a copy of my tax return in TurboTax?
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