If you had an overpayment on retirement plan contributions in 2019, you would have an entry on line 6 of your schedule 2 on your 2019 tax return. You should also have a form 5329 reporting the additional tax. The penalty would apply to all future years, until you paid the excess back or reduced your allowable contributions by the excess in a future year.
You need to look a your 2019 return to see if the excess contribution appears on it. If not, you need to review your 2020 contribution entries in TurboTax, and look for the question regarding prior year excess contributions.
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