If you took the money out in 2020 and before 12/31/2020, you certainly can put all the money back within three years without paying any penalty and taxes. But many taxpayers (including myself) are paying it back 1/3 every year in 2021, 2022, and 2023 to avoid taxation. Many others decide to pay tax on 1/3 each year without putting the money back.
If you did not do it last year, you can go back to amend your 2020 tax return to indicate that you have paid it back.
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