For 2024, from the information you provided, the income from the royalties received belong on Schedule E, so you can navigate to the Rental Properties and Royalties (Sch E) entry in Wages & Income, then follow the interview questions to report the type of royalty and source of payments. If you are using the TurboTax Free Edition of TurboTax Online, you will be prompted to upgrade to prepare Schedule E.
For 2023, to make a correction, you will need to file an amended return. Open your prior return, choose to amend, then add the royalty income. See: How to File an Amended Tax Return with the IRS
Here are the instructions for reporting How do I enter a 1099-MISC for royalty income?

