Yes, to report your self-employment income and expenses (which include vehicle mileage), please perform the following steps.
Go to federal>income and expenses>
Self-Employment>Self-employment income and expenses
Complete the profile that asks about your business
Then there will be a screen where you will enter your self-employment income.
After entering, you will start entering expenses into your program. Since you are in Turbo Tax Online, vehicle expenses will be at the top of your expense list. You will select the add button to begin recording your vehicle mileage expenses.
Also you will add all other expenses that are applicable to your business.
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