Rogen revealed on Twitter that he took a pass at rewriting the script when the film was being made:
I helped rewrite bad boys 2— Seth Rogen (@Sethrogen) January 15, 2020
Then Paul Scheer stepped in to ask, essentially, how did this get made? To which Rogen revealed a few more specifics about his involvement with the project:
Judd was rewriting it and me and Evan were broke so he gave us a bit of money to help. I don't remember much but we all definitely wrote the joke where they don't know the words to the song, and where Martin shoots the machine gun in the car by accident. And probably many more...— Seth Rogen (@Sethrogen) January 15, 2020
Rogen likely wasn't involved in Bad Boys for Life in any capacity, but you can still watch the trailer for that flick below.