Yes, you will have to pay the 6% penalty on your 2021 and 2022 tax returns because you didn't remove the excess until 2023.
No, you cannot enter just a 2022 Form 1099-R, you hadn't removed the excess contribution in 2022. You will get a 2023 Form 1099-R in 2024 which will be reported on your 2023 tax return. And this will remove the excess contribution and then you won't have to pay the 6% penalty in 2023.
"In general, if the excess contributions for a year aren’t withdrawn by the date your return for the year is due (including extensions), you are subject to a 6% tax. You must pay the 6% tax each year on excess amounts that remain in your traditional IRA at the end of your tax year. The tax can’t be more than 6% of the combined value of all your IRAs as of the end of your tax year." (IRS)
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