All 2020 RMDs were waived due to COVID. You were required to take RMDs each year after that. Waiver of the penalty for not taking RMDs in 2021 through 2024 only applied to beneficiaries who are subject to the 10-year rule.
Since neither the 5-year rule nor the 10-year rule applies in your case, and assuming that you are younger than the decedent, your requirement is to take annual RMDs using the factor based on your age in the year following the year of death, reduced by 1 each subsequent year. This means that the account must be fully drained in the year that the factor becomes 1 or less (if any amount remains that year). Note that your life-expectancy factor recalculated for 2022 and beyond due to the IRS issuing new life-expectancy tables by re-determining the factor using your age in 2018 and subtracting 4 (then continuing to reduce that by 1 each year after 2022).
