Yes, there may be other solutions to help you avoid paying the tax and penalties.
You will need to speak with your former employer and the company that manages their 401k. You may be permitted to roll your 401k into a 401k at your current employer, or to pay off your loan in a single lump sum. You also may want to talk to the 401k trustee for your current employer to see what they allow.
While 401k trustees have a certain amount of leeway in establishing rules for their accounts, they are also restricted by what the IRS will allow.
If your non-employee status restricts your access to the trustees, ask a former coworker to call them on your behalf.
However, if it has been more than 60 days since you left your former employer, it may be too late to take any action.
