CSS:
input[type="radio"] {
   scroll-margin-top: 10px;
}
JS:
const form = document.querySelector('form');
form.addEventListener('submit', (event) => {
  const firstCheckedElement = form.querySelector('input[type="radio"]:not(:checked)');
  
  if (firstCheckedElement !== null) {
  	event.preventDefault();
    firstCheckedElement.scrollIntoView({
      behavior: 'smooth',
    });
  }
});