I can't imagine an accountant submitting year-end accounts or tax returns with turnover over £85k and not asking to see VAT returns.
If you didn’t register on time, then there’s a good chance that you didn’t charge VAT on your sales either. Unfortunately, HMRC will still expect you to pay your VAT bill and pay them the VAT that should have been charged at the time, even though you didn’t collect it from your customers. Also, you will get a penalty and most likely it will be 15% of what you owe.
If you are using accounting software, It might be easier to re-do the bookkeeping for the last 22 months and calculate the VAT. I hope you keep all your records and VAT invoices/receipts. If you can think of a reasonable excuse why you registered late HMRC might be willing to reduce the penalty, provided you were never late with other tax payments. Talk to a few accountants, get quotes and engage someone to deal with it. it will be costly to deal with it, but it is not the end of the world.