Depends on if you have your hard drive still or a backup of the hard drive not just the company file. When you efile and save a pdf it and all other forms are stored on same hard drive as company file in folders company name payroll history. When you efile there are two files saved in different folders. One is traditional pdf. If you cannot recover data from the hard drive you have limited options since I do not think quickbooks saves a copy when they act as your efiler.
If you have an eftps.gov account (for making tax deposits) it is possible copies of filed documents reside there but without looking myself I also doubt it since we never file actual forms there.
There is probably a form to request copies from the irs but I do not know its number