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You can resend submissions from your Submissions tab in Form Builder.
Just select the form which submissions you want to submit and go to Submissions:
In the submissions page you can Edit each submission and resend.
Make sure that you form has Autoresponder created and that your clients inputted their emails so the Autoresponder can be sent.
Also, you should check your Autoresponder's settings and enable Send on Edit:
Please try and let us know how it works for you.