Yes, you must start taking RMDs from retirement plans, traditional IRA, SEP IRA, SIMPLE IRA accounts by April 1 of the year after you reach age 72 (73 in 2023). Contact your plan administrator for each of your pension plans to start your RMD withdrawals.
For more information, please refer to the IRS article Retirement Plan and IRA Required Minimum Distributions FAQs and the TurboTax Help article What is a RMD?