Yes, you will have to print and mail the extension because you won't be able to provide the prior year's adjusted gross income (AGI) for verification.
Refer to the IRS Topic # 304 Extensions of time to file your tax return for more information. You can prepare the extension in TurboTax, then print and mail it.
Refer to the TurboTax Help article How do I file an IRS tax extension?. If you need to file a state extension, review the article How do I file an extension for my personal state taxes?
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