No, you will have to pay the 6% penalty on your 2022 tax return because the excess wasn't removed by December 31, 2022. You only have an extended deadline for the first year but you missed the extended due date of the 2021 tax return therefore you will have to pay the 6% penalty on your 2021 and 2022 tax returns.
Yes, you will request a regular distribution (without earnings or losses) for the excess contribution ($4,000). You will get a 2023 Form 1099-R with code J (if you are 59 1/2 or older then code T or Q).
You can withdraw contributions you made to your Roth IRA anytime, tax- and penalty-free. Next year on your 2023 tax return you will enter the 2023 Form 1099-R and this will remove the excess contribution: