No, to find out information about prior year tax returns, you wouldn't send in a 5329 for each of those years with this year's tax return. The IRS won't request an amended form 1040X for prior years based off of this year's return.
If you filed your prior year tax returns with TurboTax, you can access the information to see why there were no excess contributions taken. It's possible it wasn't required, but without seeing your returns we could not make that determination.
If you did not file with TurboTax, you can always request an IRS transcript if you need to. That information can be found on the IRS website, at this link.
And if you do need to file an amended tax return, you can do so with TurboTax.
Here is information on the IRS website and on TurboTax.
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