No, you don't need to file an amended return.
For purposes of determining excess contributions, any contribution that is withdrawn on or before the due date (including extensions) for filing your tax return for the year is treated as an amount not contributed as long as the contributions, as well as any earnings, were also withdrawn before you filed the 2018 return.
The 2019 1099R is just reported on your 2019 return, as long as the above is correct.
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