Yes, a plan administrator has to issue a Form 1099-R for a rollover. And this Form 1099-R will have to be entered on your 2021 tax return. Since you haven't reported it on your 2021 tax return you will have to amend your 2021 tax return. You will enter Form 1099-R for the rollover and Form 1099-R with code PJ. None of this will be taxable.
You won't be able to generate Form 1099-R with TurboTax. Please see the IRS website for the 2021 Form 1099-R and Instructions.
[Edited 3/9/2023 | 6:42 am PST]
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