You can withdraw your contributions at any time without tax or penalty. The 5 year rules do not apply.
If you are under 59-1/2 and you withdraw money from conversion less than 5 years after the conversion, you will pay a 10% penalty for early withdrawal. And you will pay income tax and a penalty if you withdraw earnings before age 59-1/2.
The problem seems to be that Turbotax does not know what your prior contributions are. The expert seems to have the right answer as to how to report your contributions in the program.
