Yes. You can save time and effort by transferring a PDF of last year's return whether you used other tax software last year, an accountant, or tax service (H&R Block, etc.).
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You can't transfer a PDF from TurboTax Online, but, you can transfer a .tax file from TurboTax online. More info.
Please review the following TurboTax FAQ on transferring a PDF into TurboTax for Windows:
https://ttlc.intuit.com/replies/6370690