You can allow the IRS to complete a return for you but they will usually use standard deduction and usually single for the filing status. Allowing them to complete the return for you may cause you to miss out on potential credits and deductions which could lower the amount of tax due or increase your refund. It would be in your best interest to file the returns for Federal & State yourself.
If you received a letter or notice from the IRS you do need to respond to them. This allows you to let the IRS know if you agree or disagree with their position. You must respond in writing to the IRS.
Helpful links:
What to Do If You Get an IRS Notice
I Got a Letter or Notice from the IRS
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