Mileage Deduction

I worked for instacart and point pickup (Walmart delivery) in 2020. This will be my 1st year filing self employment. I was trying to see how the mileage deduction works if I didn’t really keep up with my mileage over the course of 2020. I saw that you can estimate but is it okay to say on the form that I didn’t keep up with them and will the IRS require proof of any miles I claim? Will I get audited? I’m scared.