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Hi and welcome to Just Answer!Generally - the IRS may assess additional penalties within three years aftre your filing.For FBAR reporting - the IRS doesn't send any confirmation - but you may always contact the IRS and verify if your forms were accepted.
In most situations - there should not be any penalties if you just missed reporting and was not aware. But as soon as you became aware - you filed for past years.While penalties are possible - the IRS rare use this option. The issue would be if you had unreported income and owe income taxes on that income.