Code G in box 7 of form 1099-R denotes a direct rollover to a qualified plan or IRA. Unless the rollover is to a Roth IRA, it is not taxable.
You had to report the form 1099-R on your tax return. Not reporting it would not change your tax liability.
I would not file an amended return as this will not change my tax liability but will keep this form 1099-R in my tax records in case the IRS asks about it later. You could then explain that you omitted to report it but did not file an amended return because it did not change your tax liability.
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