Hi Ben,
I assume you want to use Timeline> Functions> Bake Objects …
Manual: It does not matter if the animation is created using few or interpolated Keys, via a Vibrate Expression or using a Constraint (or even an Alembic object). Regardless of how the animation was created, this function will create one Key per animation frame.
With this option, the “initial” keyframe is not needed. However, one keyframe adds it typically to the Timeline. Make sure the Bake Expression and the required P, S, R checkboxes are set.
Is the object in the Timeline? If not, you need to drag it into the filed on the left.
Alternatively, change the Timeline> View> Automatic Mode.
https://help.maxon.net/us/#10613
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All the best