Yes, when the RSUs vested, your company sold shares to cover the taxes, thus, you paid tax when the RSUs vested. Whether it was enough to cover your full tax liability, you can review your tax returns for those years and see if any tax due was the result of the RSUs.
The share prices are probably the closing price on the day in question. How close are the prices that you found as compared to the cost basis that you were given? A few pennies difference may not result in much of a tax difference; however, a dollar or several dollars may make a big difference depending on the number of shares sold.
The prices on the date you sold should be on a trade confirmation or monthly account statement. Brokerage firms should produce trade confirmations and monthly account statements for purchases and sales. You might try checking with the firm that sold your shares. Your year-end summary may be somewhat helpful, but the monthly account statement and trade confirmation will be more useful documents if you can get them.
@mellynlee
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