Officially Bungie only allows to go back to the previous season to claim rewards that were earned but never collected during that season.
However, there is a browser extension for Chrome called Season Pass Pass that lets you go back as far as Risen.
Google it and look for a reddit post called "I made a browser extension to claim earned rewards" as that has the details on how to get it and use it.
I use it and have never had a problem.
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Do you still need the levels to claim the loot?
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Yes. You still needed to have reached the appropriate rank in order to claim any of the rewards. For example - in order to claim the exotic cipher from the pass, you needed to have at least reached rank 55 on the pass. Given that Bungie just gave everyone the seasons, you can at least go and grab the exotic from each with it being just rank 1. Defiance - Verglas Curve Deep - Centrifuse Witch - Ex Diris
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Yeah I just missed the later level defiance loot
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Thank you both