Advice needed on self-administered solo 401(k) loan in default

So I have a solo 401(k) loan that is self administered, which is now two years in default due primarily to financial hardship from when I was self-employed. I will be in a position to start repaying it very soon. I have never received any communication from my brokerage about this loan being in default, and the IRS has not audited me or that 401(k) account specifically. My question is, can I start repaying this loan two years late as if nothing has happened, and hope that I won’t be audited? Would starting to repay it two years late trigger some sort of notice to the IRS from my brokerage? Should I just let sleeping dogs lie and pretend that the loan doesn’t exist and hope I’ll never be audited? is there a statute of limitations on something like this? The loan is still listed on my 401(k) account.

Or would I be better off filing an amended return for either 2024 or 2025 with a deemed distribution and dealing with that tax consequence? The loan value is $50,000.