DaveF1006 had the correct answer for me. I hope this will help other people too. Follow his instructions.
I was able to e-file my taxes. I did not have to send anything via regular mail. Both returns were accepted.
I used TurboTax Deluxe Desktop Edition and the software will generate a substitute 1099R for you to fill out with room for an explanation as to why you took your RMD late.
It helps if you call your broker and find out exactly what your RMD was for 2021. And if you get your Broker's EIN Number, address etc.
From what I understand from my broker, my RMD for 2021 will actually need to be claimed on my 2022 Taxes because it was taken in 2022, but I guess I gave the IRS a heads up for next year and maybe they won't charge penalties.
Thank you to everyone who replied.
