The rules are different for a contribution for this tax filing year, and a contribution for earlier years.
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You already filed for 2024 but did you meet the Tax Day filing deadline (including extensions)?. If YES, you can avoid penalty on 2024 contribution. Amend 2024 tax return to report any positive earnings accrued by the 2024 excess and retract any reported penalty.
It is past the Tax Day for those earlier years, so your options are less favorable.
See IRS Pub 590B for details.
