Retirement tax questions

Thanks for your response.  I would like to make a clarification.  When I rolled over my 401K into a Rollover IRA, I hadn't tracked my after tax contributions to the401K-so I didn't include them in my Form 8606 computations when I started my MRDs in 2015.  This year I found the documents from my 401K employer that give me this number.  Since I believe you should not be taxed on the same income twice, I would like to think there is some way I should be able to recover the after tax contribution based basis when filing my 2021 taxes even though I understand I cannot amend my 2015 and 2016 returns.  Any suggestions?