Another program the IRS is rolling out is called "Direct File"[0]:
In 2024, we're launching a new pilot tax filing service
called Direct File. If you're eligible and choose to
participate, file your 2023 federal tax return online,
for free, directly with IRS.
It appears to be limited to a handful of states thus far.
At least it's under the irs.gov domain now. As recently as last year, I had to, or at least thought I had to, go to the even scammier-sounding https://www.freefilefillableforms.com.