The short answer, explained
Normally, once the enquiry window for a tax return has closed without HMRC opening a check, that return is treated as final. A discovery assessment is the exception: it lets HMRC go back and raise extra tax even after that window has shut, if it later discovers the return understated the liability.
It isn't a general licence to reopen settled years whenever HMRC feels like it. HMRC has to show it has genuinely discovered a loss of tax, and, in many cases, that the shortfall couldn't reasonably have been spotted from the information available on the return at the time it became final.
How far back the assessment can reach then depends on why the tax was lost: a modest window applies where reasonable care was taken, extending significantly for careless errors, and reaching much further back for deliberate conduct.

