If you are filing the streamlined foreign offshore procedure, you do not notify the IRS prior to filing. You simply prepare and submit the 3 years' tax returns, form 14653 declaration, and 6 FBARs.
From the sound of your situation, you may be able to simply file under the delinquent FBAR procedure. This involves filing the 6 FBARs with a reason for late filing. You would then just amend your 2020 return using Form 1040X, as opposed to submitting a full streamlined foreign offshore procedure.