You can always withdraw your basis in a Roth IRA and not pay taxes on the amount withdrawn.
On the 1099-R form you received, the taxable amount in Box 2 should be $0.
The code on the 1099-R indicates that the amount is not taxable.
When you put the information into TurboTax is asks the amount of Prior Year Roth Contributions.
The form 5329 is a form that is generated by the custodian of your account.
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