Yes, PA has a reciprocity agreement with MD so that taxpayers only get taxed by the resident state and only need to file that resident return. To generate the PA non-resident return in TurboTax, in the "My Info" section scroll down to the "Other State income" and answer "Yes" you had income from another state and select "PA".
As @TomD8 states you need to have your employer correct the withholding for the future and then file a non-resident PA return for a PA refund of the taxes withheld. You may need to do that again for 2024 if withholding has continued thus far.
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