The best answer is maybe. 2019 taxes were due July 15, 2020. If you filed an automatic extension to file (form 4868) you have until October 15, 2020 to file. If you owe the IRS or your state money, it was due July 15, 2020.
If you are entitled to a refund, you have 3 years from the due date to file your taxes in order to receive your withholding and any applicable refundable credits.  If you miss the cutoff, you forfeit your withholding and any refundable credits. If you did not file in 2020, make sure you file both of your returns at the same time in 2021.
If you owe the IRS money, there is a penalty that may apply: The failure to file in a timely basis. Once the return is more than 60 days late, the penalty is 5% of the amount due per delinquent month or $330; whichever is greater. The maximum failure to file in a timely basis is 25% of the total amount due.
Until you pay the total balance, you will incur interest as well. Currently, the interest the IRS is charging is about 1/2 of 1% per month. The maximum interest is also 25% of the total amount due.
If you receive a letter from the IRS assessing a penalty, there is a 1-800 number which you can call to contest the penalty. If you need help understanding the letter, contact us or your trusted tax professional for assistance. VITA groups cannot contact the IRS or state revenue offices on your behalf. Do not ignore any letter from the IRS or state revenue office. It will only make things worse.