It depends. If the code in box 7 for the cashed out amount is a "1", then it means that your distribution is subject to 10% penalty and TurboTax will calculate that automatically unless a penalty exception applies (which it will ask you about). If you see a code "2", however, it means that the amount is taxable but you will not have to pay a penalty.
According to Pennsylvania, you are able to efile. Here is an FAQ from the PA website that provides more information on where to send information they may be asking for:
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