Employer failed to auto-enroll me into workplace pension

I worked for a UK company for 10 years before retiring 2 years ago. I have just discovered that the employer was legally required to have enrolled me in a workplace pension scheme, but the issue was never mentioned. Do I have the right to claim the missing payments?

Hi,
Please find guidance at: Workplace pensions - what your employer can and cannot do
It states in this:
If you’re concerned about the way your employer is dealing with automatic enrolment or managing your workplace pension, you can contact:
 The Pensions Regulator.
Thank you.