You're stuck with the penalty for 2021, because it's too late to make a withdrawal and you can't withdraw the excess 2020 contribution after October 2021.
For 2022, simply withdraw $34 more than you need for medical expenses. That will zero out the penalty when you report it on your 2022 tax return, but you will pay income tax (plus a 20% penalty if under age 65) on that $34 instead of paying 6% per year.
