H4 Stamping and dropbox

Hi…My husband cam to US in Feb 2017 and We(me & my son) came to US in May 2017 on H4 visa and have not visited India since then. I am planning to go to India in May 2022 along with my son. My visa expiry date on my passport is Dec 2018. I think with the new rules, I am eligible for drop box. Can anyone pls explain me the procedure on how to go about this process?

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