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Thank you for your response. 

Yes. Out of the last 5 years that I have been in the US, this is the first time I filed and prior to 2021 I was a non resident alien. As far as I read, you are not required to file if you are a non-resident alien. I'll go ahead and file one for the last two years now. But I genuinely didn't know I had to file. It was only this year I got to know about the FBAR when I saw a prompt about this on turbo tax.

I'm sure others here have been in my situation too. Are there any penalties for filing this late?

I don't do a lot of international transactions but if I'm sending family support, I do it in bulk. So there's a chance that I had more than 10k in my account in previous years even if it was for just a day.

I'm pretty nervous now to file, because of the same reason you mentioned. I'm worried that I might be inviting an audit by doing that.