Please see TurboTax Expert DanaB27's excellent solution below to a similar question.
If you have a Form 1099-R entered then you can use the steps below:
Or Federal tab > Wages & Income > Retirement Plans and Social Security1099-R, IRAs, 401(k), early withdrawals > IRA, 401(k), Pension Plan Withdrawals (1099-R), then Start/Revisit.
If using the TurboTax Online version and have no 2023 Form 1099-R to file, you will have to prepare the 5329 manually.
Download Form 5329 from the IRS website and fill it out the same as above. Print and mail your return with the 5329 form and explanation attached as described in the 5329 instructions. The 2023 Form 5329 must be attached to your printed and mailed 2023 tax return and cannot be e-filed.
Please be aware that you can only use this method if you are requesting a waiver of the penalty and there is no taxable amount on Form 5329 form line 55 that must be transferred to Schedule 2 line 8.
Please see Relief for Reasonable Cause for additional information.
Or you can use "forms" mode which is only available with the TurboTax Desktop software if you do not have a Form 1099-R to file: