If your only income was social security, you do not need to file a tax return at all, unless you are filing Married filing separate. In that case you would need to file because some of your social security will become taxable.
If you choose to file anyway, you would have to file by printing and mailing the return. TurboTax does not do that for you, you have to do it yourself. You cannot e-file a tax return with no taxable income on it.
Whether you had to file in prior years is not something that can be answered without knowing all the numbers on your returns.
