Looks like they were taken but also either returned or ready for return according to this. It was also the DOJ that alerted Trump to this beforehand but he then decided to make his accusations on the "Truth Social" platform that they were stolen.
1) DOJ obtained three passports (two expired, not one, as Trump said) and alerted Trump lawyers
2) They were recovered by a filter team, which weeds out privileged info.
3) Trump publicized this after DOJ offered them back
https://twitter.com/kyledcheney/status/1559324841681063936