I don't believe that there is a way to do that without third-party software?

What about Free File Fillable Forms?

Not everyone qualifies. Thanks to tax software company lobbying.

https://www.irs.gov/pub/irs-utl/free_file_fillable_forms_use... says "Free File Fillable Forms has no age, income or residency restrictions".

IIRC if you have other than some basic income types, you cannot use it though.

That's also third party (run by "Free File Alliance, LLC").