Excess Roth IRA contributions in tax years 2021-2023

I discovered that I made excess Roth IRA contributions over the past 3 tax years (without receiving any notification for such):

2021: $4,020 excess

2022: $7,000 excess

2023: $7,500 excess

 

I understand that the 2023 contribution can be withdrawn without penalty, and the earnings taxed on NIA, net income attributable (gains in 2023 based on the over-contributed amount as a % of the account).  The first two years' contributions are penalized at 6% of the excess per year.  No distributions have been made from the account so far.

 

If I withdraw the total excess contributions, $18,520, plus the NIA earnings (?), prior to filing this year, what would be the best process in TurboTax to do this?  Also,

  • Are the "excess" earnings in 2021-2022 also taxable, or does the 6% penalty cover that? 
  • Should the earnings for any of the 3 years be withdrawn?

I've read that the IRA custodian can issue a 1099-R for the distributions.  Any insight on this would be much appreciated... Thanks.