The time you did not pray is gone and dead, hence, there isn’t much you can do. You can only offer as many voluntary prayers as possible as you can’t make it up.

I have many years of missed salat may Allah forgive me. I hear that I need to make it up but I also hear that I can just pray taubah and pray nawafil prayer and that will be enough in sha Allah. I want to do what will fix my mistakes in the past and I know Islam is not meant to be a burden on us and Allah is merciful can you please help