Yes, you will pay the 6% penalty for 2020 and 2021.
It seems you have entered everything correctly on your 2021 tax return.
On your 2020 tax return you will only enter the total 2020 contribution you made (for you and you spouse), leave the "excess contributions in 2019 or prior blank" and when you continue you should get a warning about the penalty at the end. You will just click continue ant TurboTax will create Form 5329 for you.
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