Yes, that is correct. If payment was made to you from the VA that is determined to be tax-free after you have already file your tax return and paid your tax, you may file a Form 1040X for that year to remove the taxable income.
As the publication indicates, be sure to attach to your 1040X the disability determination letter.
You normally have 3 years from the date a return was due to claim an additional refund. However, if your determination goes back further than this, you have a year from the date of the determination to file for a refund. (In other words, take care of this within the next few months for the best results.)
Here is a link to some helpful information about how to file amendments using TurboTax: How to Amend a Tax Return in TurboTax.
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