Originally, you owed regular income tax on the withdrawal. That was folded into your overall tax return, so you probably owed extra on your 2020 federal return (since you had no withholding), but the $3000 state withholding was applied to your state tax return so you owed less or may have gotten a refund. That will show on your 2020 state return, print a copy and look it over.
Then, each year that you make a recontribution, you need to file an amended tax return for 2020 to change the amount that counts as a taxable withdrawal. If your withdrawal amount is less, the tax will be less, and you will get a refund from the amended return that represents the difference between the original higher tax (on the original withdrawal amount) and the new lower tax (based on the withdrawal minus the recontribution).
If you never filed amended returns to claim the repayment and adjust the amount of tax, you can do that with now (if you have made the last recontribution you plan to make). You would file an amended 2020 return (federal and state), report the original withdrawal, and the total of the recontributions, and recalculate your income tax. You would likely get both a federal and a state refund.
