Forgot to offset RMDs with nondeductible IRAs. Do I have to amend previous years or I can I start using the original basis now?

I forgot to use nondeductible IRA on prior returns 2018 and 2019 after taking RMDs. Do I HAVE TO amend the 2018 and 2019 returns or can I just start using the original basis for nondeductible funds now. The refund is less than $20 for 2018. 

Form 8606 was filed for years 1992-1997 for $2,000 each year (total $12,000); however, Form 8606 was not filed after that since there were no additional nondeductible contributions. Is that a problem? It seems you only file the form if you have nondeductible or use them somehow.  Thanks!