If it was a 2020 Form 1099-R with code 8 then you would have to amend your 2020 and 2021 tax returns because a 2020 Form belongs on the 2020 tax return.
Yes, unfortunately, you will be taxed twice since you withdrew the excess after April 15th, 2021. Please include the 2022 Form 1099-R on your 2022 tax return.
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