The requirements for filing gift tax returns is what it is. Since you were exempt for filing Form 709 gift tax returns for all those 3 years because you were under the filing requirements.
In 2021, $15,000 and less per donor spouse was the gift tax filing exclusion and you gifted $28,000 in rsu's between both your spouses so you met the exemption requirement. $16,000 and less per donor spouse in 2022 and you gifted $30,000 between both of your spouses so once again you met the exemption requirement.
And finally in 2023, $17,000 and less per donor spouses and you gifted $32,000 between both of your spouses
so you are again exempt from the 709 gift tax filing requirement.
Also remember that both you and your husband must agree to the gift and you both must file a joint tax return.
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