No, if the 8453-PE that was attached to the return as a PDF was blank, there's no signed copy to retrieve.
You should just follow whatever procedure the IRS is asking you to follow to sign your return, so it can be processed. If they charge you with a penalty, you can ask for it to be waived based on what you have said here.
If you want to speak with someone about this, you can contact the Audit Support center since the IRS has contacted you about the return you filed through TurboTax. Follow this link for contact info.
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