Retirement tax questions

I have follow-up question.  Given the advice you provided above.  Does this mean I can eFile form 5329 along with my 1040 forms?  Or do I still have print out 5329 and send it separately to IRS?  Another question, can I file form 5329 now before April 15th 2024, and then take the missing RMD for 2023 in May 2024?

Thanks.