Receiving a 1099-R in 2020 and reporting it on your 2020 return would not disqualify you from receiving the Saver's Credit in 2021.
If you made contributions to a 401K in 2021, and the amount is shown on your W-2 in Box 12, TurboTax will pick this up when you enter your W-2 to see if you qualify for the credit. Remember the credit can only be applied to tax you owe.
Click this link for more info on the Saver's Credit.
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