It's asking me to enter info from 1099-R form, but I do not have a 1099-R form. How do I bypass this, or should I just enter $0?

Did you have one last year that Transferred over?  No do not enter zero.  You need to delete it.

Here is how to delete a 1099-R that you either started this year or was transferred in from last year.  The easiest way to delete an unwanted or duplicate 1099-R is from the Your 1099-R Entries screen.

1. Open (continue) return if you don't already have it open.
2. Inside TurboTax, search for 1099-R or 1099R (lower-case works too) and then click or tap the "Jump to" link in the search results.
3. This will take you to the Your 1099-R Entries screen.
4. Select Delete next to the unwanted 1099-R and then answer Yes on the following screen.