First of all if they truly are not your dependents then you need to file an amendment to remove them and of course your tax liability will increase. Be advised the IRS is not processing any paper returns at this time. If you amend that will be mailed in and thus delayed processing. Once that amendment is processed your parents could file an informational return to receive a stimulus payment this year.
If however they "could" be your dependents and you are just looking to get them a stimulus payment then let your 2019 return stand. On your 2020 return do not claim them. They will file informational returns for tax year 2020 and receive their stimulus payment then.
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