Yes, you may file jointly even when you do not live with your spouse, the IRs allows a taxpayer to change their filing status from Head of House to filing jointly by amending their tax returns. However, there is a 3-year statute of limitations in which you may file an amended return. The oldest return that you may amend would be for tax year 2018 and you will have to amend and file that return no later than April 18, 2022. It is your decision to amend or not amend your past year's returns.
This link How do I amend my 2020 return? has information you may find useful.
Ref: IRS 21.6.1.3 (10-01-2002) Filing Status and Exemption/Dependent Adjustments
What Are Filing Status Changes?
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A taxpayer may file an amended return to change the filing status claimed on the original return. Changes may involve the following:
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From Married Filing Separately (MFS), Single, or Head of Household (HOH) to Married Filing Joint (MFJ), refer to IRM 21.6.1.4, Filing Status Research, and IRM 21.6.1.4.1, Married Filing Separate, Single, or Head of Household to Married Filing Joint Research
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From MFJ to MFS, Single or HOH, refer to IRM 21.6.1.5.5, Married Filing Joint to Married Filing Separate, Single, or Head of Household Procedures
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Other changes, such as Qualifying widow(er) with dependent child
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