You have to file the form 5329 if you made excess contributions related to retirement accounts or certain tax-advantaged savings accounts. Failure to file the form could lead to additional penalties and taxes.
You can file Form 5329 for the prior year using Form 1040-X, Amended U.S. Individual Income Tax Return.
If you used TurboTax to prepare your 2023 tax return and reported the excess, than TurboTax would have prepared the form for you. You can review your 2023 tax return to verify that the form was not filed along with it.