Yes, you can change your filing status to married filing jointly.
Yes, it can solve your excess contribution issue if with that filing status your MAGI won't be over the Roth contribution limit. Then no other actions are needed.
You do not need to wait to file your 2021 return but if you wish to file an extension please see How do I file an IRS extension (Form 4868).
Please see What happens if I made an excess Roth IRA contribution for additional information.
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