Yes.
You can fill out and file this form 8606 for 2020 now as a standalone form. You do not need to amend your 2020 tax return. You can send this form to the IRS at the address where you would file your tax return. This depends on your state of residence.
Please find the address in this IRS document.
There is a $50 penalty for filing the 8606 late unless you can show reasonable cause.
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