The penalty is calculated on Form 5329 and will self generate when you answer the questions about your Form 1099-R. If possibly in your case you do not have a Form 1099-R because you did not take the required minimum distribution (RMD) in 2023 when required, then you can add the form to your return.
If this is your scenario, you must include form 5329 when you e-file. This can only be done using the "Forms" mode which is only available with TurboTax Desktop if you do not have a 1099-R to file.
You can change to TurboTax Basic CD/Download if you choose.
Once this is completed here are the steps to add Form 5329 to your return.
You will not pay any penalty now until the IRS determines if it will grant the waver, then they will inform you if you owe the penalty.