You can't "withdraw the excess" 2021 and 2022 contributions, it's too late for that. Anything you withdraw will happen in 2024 since it is now 2024.
In order,
1. File an amended 2021 return to report the excess and pay the 6% penalty on $4020 of contributions.
2. File an amended 2022 return to report the cumulative excess and pay the cumulative 6% penalty on $11,020. (A running tally is kept on form 5329.)
3. Contact the IRA custodian to perform a "removal of excess contribution" for 2023. You must do this before the filing deadline of April 15, 2024. You only withdraw $7,500, which is the excess for 2023. You can't use this procedure to remove the $11,020 from the past. You must also withdraw the earnings attributable to the 2023 excess contributions. This will be reported on a 1099-R form for tax year 2024, that you will get in January 2025. The earnings will be taxed as regular income on your 2024 tax return plus a 10% penalty for early withdrawal if you are under age 59-1/2. [Edited correction, see below.] Even though the earnings will be reported on a 1099-R issued in January 2025 for tax year 2024, they are actually taxable for tax year 2023 (the year you made the excess contributions). Create a "substitute 1099-R" in Turbotax to report the earnings. You will pay income tax plus a 10% penalty unless you are over age 59-1/2. When you get the 1099-R in 2025, you should report it on your 2024 tax return, but it will have a code so it won't be taxed.
4. File your 2023 tax return. Ignore the 2023 Roth contributions since, if you remove them by the deadline, it will be as if they were never made. However, you will still owe a 6% penalty on the combined excess contributions from 2021 and 2022 ($11,020).
5. Sometime before the end of 2024, make a regular withdrawal of $11,020. Since this is a withdrawal of contributions, it won't be taxed, although it will be reported on a 1099-R that you will include with your 2024 tax return. There is no need to remove the earnings attributable to the $11,020 of excess contributions (that's what the 6% penalty was for).
6. On your 2024 tax return, you will report that you withdrew the excess contributions, which will zero out the excess contribution tally on form 5329. You will get a 1099-R that shows the withdrawal of contributions (the $11,020) and earnings (the earnings attributable to the 2023 excess). You won't owe additional tax in 2024 because the earnings were already taxed and withdrawal of contributions is not taxable, but it needs to be reported.
