TurboTax would not submit your return without your permission. You would have to press the "Submit" button after going through the "File" routine in TurboTax.
Are you sure the notice you saw regarding your return being submitted was for 2019?
Also, you can get a transcript of your return online from the IRS to see if it has been filed as follows:
https://www.irs.gov/individuals/get-transcript
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