Yes. To claim any missed stimulus payments for 2020 and 2021 you must file 2020 and 2021 tax returns and claim the Recovery Rebate Credit on those returns. The deadline to file a 2020 return to claim the credit is 17 May 2024 and for the 2021 return it is 15 Apr 2025. Here is an IRS link with more details.
Here is a link to get started on those prior year returns with TurboTax. Use the 2020 and 2021 links on the page as applicable.
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