Retirement tax questions

I am in a similar situation, slightly overcontributed to 401k due to job change and did not discover it until April 16th.

Now, administrator from a new 401k plan refuses to process the withdrawal since it is after the 4.16th. They are telling me that I have to wait for 3 years to be able to make that excessive contribution withdrawal due to plan restrictions. Is it OK to wait that long until withdrawal if I declare the overcontributed amount and pay income tax on it on 2020 return?