I took a withdraw in 2020 from my 401k for Covid Relief. It was posted on a 2021 1099-R. How can I still Qualify to not take the 10% tax penalty on the Relief Withdrawal?

As stated above, there was a withdrawal for covid relief in 2020 and it was not posted till 2021. Therefore it is on a 2021 Form 1099-R. How do I avoid the 10% penalty since it was for Covid relief?