Yes, information from Form 1099-R does generally need to be included on your Form 1040, but it is not necessarily taxable depending on the information reported on the Form 1099-R.
Take a look at your Form 1040 to see lines 4 and 5. Those lines report Form 1099-R distributions with the distributions on lines 4a and 5a and the taxable amounts on 4b and 5b. So, you may see an amount on 4a or 5a only if the distribution was not taxable.
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