Yes, in general it's recommended to list all your visits to the US which have lasted over 24h for an accurate residency determination.
However, if you have had non-exempt Visa types held over 3 years ago, you can skip them as they will not be counted towards the Substantial Presence Test.
Info: The exempt Visa statuses are F,J,Q and M and you must report all visits you've had ever on such Visa types.