The 5329 needs to be filed for every year that the distribution is not take. The penalty for each distribution not taken is charged for every year that the distribution is not made, e.g. miss 2017 for $1,000, miss 2018 for $1,200, miss 2019 for $1,600 then even though there no distribution for 2020, there is still a penalty on $3,800 for the three prior years that are still not distributed.

As @IRonMaN fill out the bottom for an exception.