It depends. TurboTax will prompt you to add attachments in certain situations and for certain federal and state forms. If there is an attachment required that TurboTax cannot attach a PDF for, then TurboTax will notify you that you must mail your return and are not eligible for e-file.
If you reached a screen in the NYS return in which you were able to upload a PDF and Part VIII is stating that the attachment will be e-filed, then it should be sent with your return.
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