Found out I have excess 401k contribution after April 15, 2022. What to do?

I did my tax late after April 15th 2023. I had two employers and 2 separate traditional 401k plan, which causes a slight over contribution of $800 , which I did not discoverred until May 2023, I have already reported the excess in Turbotax for my 2022 return.

 

However, I asked my current employer plan about withdrawing the excess $800, they don’t allow me to do that because it is after the tax date, and they don’t allow me to do any early withdraw because I am still employed by my current company.

 

They suggest me to talk with my previous 401k plan about early withdrawal, but I already rolled it over to my IRA.

 

Two questions:

1. Can I just remove the $800 from one of my own IRA accounts to address the over contribution?

 

2. If step 1 is not okay, what is my best course of action to get this resolved?