I’ve been paying PMI since 2019 on my VA loan

So first off, yes, I know I should have known about this back in 2019. But as a first time naïve home buyer and needing something quick, I overlooked the part where my VA loan did not require PMI. Funding fee: yes. PMI: no. That said, my lender told me to connect with the insurance company which I did and I left a message.

My question is, is there anything legal here regarding my mortgage that should be looked at? Should I request a PMI "refund" or some kind of compensation for something I shoudn't have been paying on?

Any advice would be welcome. Thank you!