Yes, if you had a taxable Covid-19 relief grant included in income in 2023, you would have a tax form, most likely a 1099-G, or 1099-MISC, that you reported on your tax return.
Unless you applied for, and received some sort of grant for a business that you own, you aren't likely to have a taxable grant as an individual.
The individual stimulus payments paid in 2020 and 2021 aren't taxable, so even if you receive one late, that is not what this question is asking about.