401K - Separation of Service

This question has to do with timing

I turned 55 in 2021, so we are ok on that front.

I took a 401K withdrawal January of 2021 from a former employer 401K account.

I rejoined the same company full time from May through November of 2021...so, I did work for that company in 2021.

So, my question is, can I take advantage of Separation of Service to save the 10% penalty? Understanding that I withdrew the funds from a former employer 401K (at the time of the withdraw), yet I did work for them later in 2021.