Q1 and Q2 Yes, you will need to file the 2021 Form 8606. You can file it by itself. Technically you can be fined $50 for failing to file the form on time, but the penalty can be waived if you have reasonable cause. Please see Relief for Reasonable Cause for additional information.
Q3 "If you aren’t required to file an income tax return but are required to file Form 8606, sign Form 8606 and send it to the IRS at the same time and place you would otherwise file Form 1040, 1040-SR, or 1040-NR. Be sure to include your address on page 1 of the form and your signature and the date on page 2 of the form." (Form 8606 Instructions)
Please see IRS Where to File Addresses for Taxpayers and Tax Professionals Filing Form 1040 or Form 1040-SR.
Q4 Yes, you should add an explanation for the missed Form 8606 and a request to waive the penalty.
Q5 No, but I would file it as soon as possible.
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