You will be unable to e-file the return as your parents have already claimed their exemption on a 2019 federal tax return. They need to be your dependents on your return.
You should have them file an amended return and answer yes to the question that someone can claim them as a dependent. Then you can go ahead and file your return after their amended return is processed. The IRS currently is not processing paper returns, and all amended returns are filed on paper. You should not file your return until their amended return is processed, which in normal times takes 6 weeks. It may take you a while to resolve this.
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