Retirement tax questions

Thank you very much for your detail response! Does the following actions make sense? 
1. file amended 2020 return on the excess amount

2. Withdraw excess contribution from 2020 by 12/31/2021 (leave earnings in account)

3. Report withdrawal when filing 2021 return

 

Last question, does it mean I will be paying 6% tax for 2020 and then 2021 again? 

thanks!!