For Employee Stock Purchase Plans (ESPP) I strongly recommend that you enter those manually and be sure to indicate that you sold Employer's Stock.
For the RSUs, you need to adjust the cost basis. As you mentioned, you were taxed on the full amount of the RSUs when they vested. Because they have already been taxed, your cost basis is the same amount that you was included in your wages reported in box 1 or Form W-2. On the screen above, you would click on the box with "The cost basis is incorrect or missing on my 1099-B". On the next screen you will enter the correct cost basis (the amount included in your W-2 income). It should be very close to, if not exactly the same as the proceeds amount on your 1099-B, resulting in a very small (or no) gain or loss.
Form more information about Employee Stock Purchase Plans, see the following TurboTax article: Employee Stock Purchase Plans
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